Robust constrained control algorithm for general batch processes

In this paper, an implementable algorithm that enables to robustly control batch processes is proposed. The resulting state feedback algorithm is based on repeated on-line solution of constrained open loop min-max problems associated to the worst-case perturbations and/or uncertainties. These solutions are then used in a receding horizon scheme in order to yield a robust state feedback controller. A novel algorithm is proposed for the solution of the open loop constrained minmax problems that is based on chattering control combined with the variable stabilizing penalty approach. Simulations are provided in order to illustrate the effectiveness of the proposed control algorithm.