A tuning approach for constrained MPC: Nominal stability ensured and energy consumption optimized

In order to get satisfying performances using the Model Predictive Control (MPC), one must find the suitable values of its tuning parameters. Usually in literature, this task is achieved using empirical or heuristic methods. In this paper, an analytical tuning approach is presented. As an advantage, the original approach we propose can be applied online to controllable process. The issues of closed-loop stability and energy consumed are addressed in this paper. Finally, a performance comparison is made with existing methods to emphasize the effectiveness of our approach.