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This  paper  presents  a  constrained finite  horizon model  predictive  control (MPC) scheme  for regulation of the annular pressure in a well during managed pressure drilling from a floating vessel subject  to  heave  motion. In addition the  robustness  of a controller  to  deal  with  heave disturbances despite uncertainties in the friction factor and bulk modulus is investigated.The stochastic  model  describing  sea  waves  in  the  North  Sea  is  used to  simulatethe  heave disturbances.The results show that the closed-loop simulation without disturbance has a fast regulation  response, without  any  overshoot,  and is better  than  a proportional-integral-derivative (PID)controller. The constrained MPCfor managed pressure drillingshows further improveddisturbance  rejection  capabilitieswith  measured  or  predicted  heave  disturbance. Monte Carlo simulations show that the constrained MPC has a good performance to regulate set  point  and  attenuate  the  effectof heave disturbance in case of significant uncertainties in the well parameter valuesauthor preprint, Copyright © 2014 Marine Technology Society - For persnonal use onl

Design and Comparison of Constrained MPC With PID Controller for Heave Disturbance Attenuation in Offshore Managed Pressure Drilling Systems