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In this paper, the development and application of a robust MPC to a pilot plant ethanol–water distillation column is described. It is shown through experimental tests in the pilot plant, how the linear model can change depending on the operating point. The obtained model has time delays and repeated poles. For this kind of system, the development of an MPC, based on the step response model that is robust to multi-model uncertainty, is presented. The experimental results that confirm the good performance of the proposed controller are also shown.
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