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## Q. 20.6

For Exercise 20.1, consider two sets of design parameters and simulate unit step changes in both the disturbance and the set point. Assume that the disturbance model is identical to the process model. The design parameters are

(a) $M=7 \quad P=10 \quad R = 0$

(b) $M=3 \quad P=10 \quad R = 0$

Which controller provides the best control? Justify your answer.

## Verified Solution

(Use MATLAB Model Predictive Control Toolbox)

As shown below, controller a) gives a better disturbance response with a smaller peak deviation in the output and less control effort. However, controller (a) is poorer for a set-point change because it leads to undesirable “ringing” in the manipulated input.