Model Predictive Control of a pH Maintaining System

In this paper the problem of optimal regulation of a pH maintaining system is considered, where the outputs are the pH value and the liquid level in the system and the control inputs are the flow rates of the base input flow and the output flow. The optimal regulation problem is formulated as a nonlinear model predictive control problem in the presence of constraints. Two cases are considered: 1) presence of box constraints only on the control inputs and 2) considering also constraints on the rate of change of the inputs.