Shahid Beheshti University International Journal of Research and Technology in Electrical Industry 2821-0190 3 1 2024 04 01 Lyapunov-based Model Predictive Control of Nonlinear Quadruple Tank System Using Constrained and Unconstrained Methods 251 259 104505 10.48308/ijrtei.2024.234542.1038 EN Hossein Yektamoghaddam School of Electrical and Computer Engineering, College of Engineering, University of Tehran, Tehran, Iran 0000-0002-4771-9122 Seyed Hamed Jalalzad Mahvizani Department of Engineering, Sardar Jangal University, Rasht, Iran 0009-0005-3064-0281 Amirhossein Nikoofard Faculty of Electrical Engineering, K.N. Toosi University of Technology, Seyed-Khandan bridge, Shariati Ave., Tehran, Iran 0000-0002-4628-5238 Mohammad Reza Salehizadeh Islamic Azad University- Marvdasht Branch, 3th kilometer of Takhte Jamshid Blvd, P. O. Box: 73711-13119, Marvdasht, Iran 0000-0002-1708-6862 Journal Article 2023 12 21 Model predictive control is a widely utilized advanced control technique in industrial settings, valued for its capacity to effectively manage complex multi-input multi-output processes while optimizing process performance. Lyapunov-based model predictive control of Nonlinear Systems is a method that incorporates the objective function as a suitable Lyapunov function, thereby ensuring stability of the nonlinear system. This study involves the modeling of a nonlinear system to the Lyapunov function and the analysis of a quadruple tank using nonlinear model predictive control and barrier function-based model predictive control algorithms. Additionally, a comparison is made between a PID controller and a well-established industrial controller to evaluate the performance of the nonlinear quadruple tank, with the findings indicating satisfactory results. https://ijrtei.sbu.ac.ir/article_104505_ad0f0810deac3c4521f64ab4ea8cf0ef.pdf