2024-10-142024-10-142021-10-15Complex Engineering Systems2770-6249http://hdl.handle.net/20.500.12272/11625This paper presents a Model Predictive Control (MPC) algorithm for Nonlinear systems represented through quasiLinear Parameter Varying (qLPV) embeddings. Input-to-state stability is ensured through parameter-dependent terminal ingredients, computed offline via Linear Matrix Inequalities. The online operation comprises three consecutive Quadratic Programs (QPs) and, thus, is computationally efficient and able to run in real-time for a variety of applications. These QPs stand for the control optimization (MPC) and a Moving-Horizon Estimation (MHE) scheme that predicts the behaviour of the scheduling parameters along the future horizon. The method is practical and simple to implement. Its effectiveness is assessed through a benchmark example (a CSTR system).pdfengopenAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0/Attribution-NonCommercial-NoDerivatives 4.0 InternacionalNonlinear Model Predictive ControlQuasi-Linear Parameter Varying SystemsMoving Horizon EstimationLinear Matrix InequalitiesCSTRinfo:eu-repo/semantics/article.10.20517/ces.2021.09