Abstract
Global Predictive Control (GlobPC) is a predictive control algorithm using three different controllers for tracking, disturbance rejection and feedforward, thus leading to perfect decoupling of all modes of control. Since rougher flotation units are nonlinear, the process is more adequately represented by a nonlinear model. The parameters of the nonlinear model are obtained by interpolating the parameters of three local linear models. Application of nonlinear GlobPC to a rougher flotation phenomenological simulator leads to better performances and robustness than linear control.
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