Performance indexes for assistance in retuning multivariable model predictive controllers

This paper presents a new methodology to assist in the tuning of Multivariable Model Predictive Controllers. It is based on the definition of several performance indexes which are averaged over long intervals using recursive filters. The computational load to obtain the indexes is very low. The indexes analysis can guide the engineer to achieve the control objective. A case study is presented to show the feasibility and practicality of the method.