METHOD FOR REMOVAL OF PID DYNAMICS FROM MPC MODELS

A method is disclosed for removing the dynamics of the PID controllers from a Model Predictive Controller that was developed using identification testing of a process. This allows creation of valve-based off-line process simulators and provides methods to generate new MPC controllers for complex multivariable process control when a change has been made in any PID control configuration or tuning and to do so without having to conduct new identification testing of the process.