Model predictive control tuning based on Extended Kalman Filter

The Model Predictive Control (MPC) is a regulation technique that has been used in industrial and robotics applications. Nevertheless, there is not a tuning algorithm that allows MPC to reach control design approaches, because most of the work on this field is heuristic. This article shows an alternative way to tune a MPC using an Extended Kalman Filter (EKF). The algorithm is implemented in a continuous stirred tank reactor (CSTR) in order to regulate temperature and molar concentration of the reactant.