Tri Chandra S. Wibowo, Nordin Saad, "MIMO model of an interacting series process for Robust MPC via System Identification", ISA Transactions, vol. 49, Issue 3,July 2010, pp 335-347.

This paper discusses the empirical modeling using system identification technique with a focus on an interacting series process. The study is carried out experimentally using a gaseous pilot plant as the process, in which the dynamic of such a plant exhibits the typical dynamic of an interacting series process. Three practical approaches are investigated and their performances are evaluated. The developed models are also examined in real-time implementation of a linear model predictive control. The selected model is able to reproduce the main dynamic characteristics of the plant in open-loop and produces zero steady-state errors in closed-loop control system. Several issues concerning the identification process and the construction of a MIMO state space model for a series interacting process are deliberated.
Keywords: system identification, interacting series process, model predictive control, nonlinear dynamics, mathematical model.