Huang, YanjunKhajepour, AmirBagheri, FarshidBahrami, Majid2017-03-302017-03-302016-12-15http://dx.doi.org/10.1016/j.apenergy.2016.09.086http://hdl.handle.net/10012/11618The final publication is available at Elsevier via: http://dx.doi.org/10.1016/j.apenergy.2016.09.086 © 2016. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/This paper presents several robust model predictive controllers that improve the temperature performance and minimize energy consumption in an automotive air-conditioning/refrigeration (A/C-R) system with a three-speed and continuously-varying compressor. First, a simplified control-oriented model of the A/C-R system is briefly introduced. Accordingly, a discrete Model Predictive Controller (MPC) is designed based on the proposed model for an A/C-R system with a three-speed compressor. A proper terminal weight is chosen to guarantee its robustness under both regular and frost conditions. A case study is conducted under various heating load conditions. Two hybrid controllers are made, which combine the advantages of both the on/off controller and discrete MPC such that they will be more efficient under any ambient heating condition. In addition, a continuous MPC is developed for systems with continuous variable components. Finally, the experimental and simulation results of the new controllers and the conventional on/off controller are provided and compared to show that the proposed controllers can save up to 23% more energy.enAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/Air-conditioning/refrigeration systemsFrostingDiscrete MPCRobust MPCHybrid controllerArticle