Model predictive control (MPC) has been used successfully in industry. The basic characteristic of these algorithms is the\nformulation of an optimization problem in order to compute the sequence of controlmoves that minimize a performance function\non the time horizon with the best information available at each instant, taking into account operation and plant model constraints.\nThe classical algorithms InfiniteHorizonModel Predictive Control (IHMPC) andModel Predictive Control with Reference System\n(RSMPC) were used for the experimental application in themultivariable control of the pilot plant (level and pH). The simulations\nand experimental results indicate the applicability and limitation of the control technique.
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