A Novel Adaptive Three Stages Model Predictive Control Based on Fuzzy Systems: Application in MIMO Controlling of MED-TVC Process

•A novel scheme of adaptive three-stage model predictive control based on fuzzy approach is presented.•In the proposed approach, two fuzzy systems is developed in order to update the horizons and weight factors.•Performances of the new scheme, traditional MPC and GMC are investigated in the absence and presence of disturbance.•Two control loops that are TBT and the brine level of the last stage in the MED-TVC process are designed.•Proposed MPC achieves better performance than traditional MPC and GMC in set-point tracking and disturbance rejection.