Nonlinear model predictive control (NMPC) is an appealing control technique for improving the performance of batch processes

but its implementation in industry is not always possible due to its heavy on-line computation. To facilitate the implementation of NMPC in batch processes

we propose a real-time updated model predictive control method based on state estimation. The method includes two strategies: a multiple model building strategy and a real-time model updated strategy. The multiple model building strategy is to produce a series of simplified models to reduce the on-line computational complexity of NMPC. The real-time model updated strategy is to update the simplified models to keep the accuracy of the models describing dynamic process behavior. The method is validated with a typical batch reactor. Simulation studies show that the new method is efficient and robust with respect to model mismatch and changes in process parameters.