Hierarchical model predictive control system based on accurate manipulation variable prediction

A hierarchical type model predictive control system having a plurality of control means hierarchically provided for controlling a control object by a calculation of a proportion (P), integration (I) and differential or derivative (D), comprising:

• a decentralized control system having a plurality of PID control means each having a plurality of control modes for obtaining by a PID calculation a manipulation variable for controlling a process variable of the control object, and for controlling the control object on the basis of an obtained manipulation variable;
• and
• model predictive control means for reading each of a control mode and control information of said plurality of PID control means at a predetermined control cycle, for predicting a process variable future value of said control object by using a dynamic characteristic model of said control object on the basis of said control mode and control information read from said PID control means, for sequentially calculating said manipulation variable about each of said PID control means to cause a deviation and a performance function of said manipulation variable to be at a minimum value in which said deviation has a value between a predicted process variable future value and a preestablished process variable reference value, and for transmitting the calculated manipulation variable as a set point value corresponding to said control mode to the corresponding PID control means;
• wherein said PID control means is characterized in performing a PID calculation corresponding to said control mode on the basis of a set point value supplied from said model predictive control means or a set point value set by an operator.