Soft Constrained based MPC for Robust Control of a …
Conclusions are given in Section 4. 2. SOFT MPC ALGORITHM The principle of soft MPC algorithm used to control the cement mill circuit is discussed in Prasath and Jørgensen (2009). The cost function is formulated as a regularized 2 output tracking problem with input and soft output constraints as given in (1a). min = 1 2 N -1 Fig. 2.