The paper provides an extensive experimental analysis of offset-free multivariable robust model predictive control (MPC) of a neutralisation plant. The behaviour of the neutralisation plant was nonlinear and asymmetric. The controlled variable was a pH value of the outlet stream, and the manipulated variables were the inlet volumetric flow rates of the acid and base. The observer was designed to estimate the system states. Operating conditions make the tuning of the robust controller a challenging task. First, the conventional robust MPC was designed. The control setup was tuned and experimentally analysed in various operating conditions. Based on the measured data, the novel approach of the real-time compensation of the asymmetric behavior was investigated. Implementation of the proposed control strategy leads to improved control performance. The real-time compensation of asymmetric behaviour can be considered for the control of other systems with nonlinear behaviour.

本文提供了中和工厂无偏移多变量鲁棒模型预测控制（MPC）的广泛实验分析。中和工厂的行为是非线性和不对称的。控制变量是出口物流的pH值，操纵变量是酸和碱的入口体积流速。设计观察者来估计系统状态。操作条件使鲁棒控制器的调试成为一项艰巨的任务。首先，设计了传统的鲁棒MPC。在各种操作条件下对控制设置进行了调整和实验分析。基于实测数据，研究了不对称行为实时补偿的新方法。实施所提出的控制策略可改善控制性能。