Fuzzy adaptive MPC for nonlinear time varying delayed systems

In this work, a predictive controller based on fuzzy models is developed; first a fuzzy Takagi Sugeno ( T-S) model is proposed considering the input/output data, the measured disturbances and varying time delay of the system, with this information a fuzzy predictor is built in order to provide the future measures minimizing uncertainties. A modification of the cost function is proposed simplifying the controller calculation considerably, also providing a reconfigurable and stabilizing control law; the proposal is evaluated through simulations on a chemical process.