Consider the transfer function model of Exercise 20.1. For each of the four sets of design parameters shown below, design a model predictive controller. Then do the following:

(a) Compare the controllers for a unit step change in set point. Consider bath they and u responses.

(b) Repeat the comparison of (a) for a unit step change in disturbance, assuming that Gd(s) = G(s).

(c) Which controller provides the best performance? Justify youranswer.

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Set No. Δt (i) (ii) 40 40 40 40 5 20 2. 20 0.01 10 0.1 10 3. (iv)