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In this note, we present a computationally efficient scheduled output feedback model predictive control (MPC) algorithm for constrained nonlinear systems with large operating regions. We design a set of local output feedback predictive controllers with their estimated regions of stability covering the desired operating region, and implement them as a single scheduled output feedback MPC which on-line switches between the set of local controllers and achieves nonlinear transitions with guaranteed stability. The algorithm is illustrated with a highly nonlinear continuous stirred tank reactor process.
Date of Publication: July 2004