Cooperative Fuzzy model predictive control for a multivariate process

In this paper a cooperative Fuzzy model predictive controller (CFMPC) for a multivariate process is presented. Instead of designing one multivariate Fuzzy model predictive controller (FMPC) several more simple FMPCs for the input-coupled subsystems are designed, and optimal behavior is guaranteed by a cooperative iteration-loop. This ensures added flexibility in changing and extending the control structure since individual FMPC designs do not affect the other control loops. Moreover, the concept is ideally suited for combination with fault diagnosis and isolation (FDI) as no reconfiguration of the control structure is necessary. The positive features are demonstrated by a simulation of an input-coupled heating process, where over-actuation, actuator fault compensation and under-actuation are handled optimally by the CFMPC.