A two-phase objective function for a constrained MPC and its application to a grinding plant

Research output: Contribution to journalConference articleScientificpeer-review


Research units


In the paper a two-phase MPC controller is described that uses a non-quadratic terminal cost. The terminal cost is computed with respect to a predefined control strategy, and it can therefore be treated as the second phase of the method. Because the problem of optimizing the MPC objective is not a quadratic programming problem, medium-scale, gradient-based optimization methods are used for the MPC implementation. The method is efficient for problems which have a lot of soft constraints, because it avoids the introduction of slack variables. The stability of the MPC is established in the paper, and the method is compared with an unconstrained MPC in the grinding plant optimization problem.


Original languageEnglish
Pages (from-to)31-36
Issue number23
Publication statusPublished - 2009
MoE publication typeA4 Article in a conference publication

    Research areas

  • MPC, MPC stability, MPC optimality, Grinding Plant optimization

Download statistics

No data available

ID: 36367699