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Recently, there has been a renewed interest in the development of distributed model predictive control (MPC) techniques capable of inheriting the properties of centralized predictive controllers, such as constraint satisfaction, optimal control, closed-loop stability, etc. The objective of this paper is to design and implement in a four-tank process several distributed control algorithms that are under investigation in the research groups of the authors within the European project HD-MPC. The tested controllers are centralized and decentralized model predictive controllers schemes for tracking and several distributed MPC schemes based on (i) cooperative game theory, (ii) sensivity-based coordination mechanisms, (iii) bargaining game theory, and (iv) serial decomposition of the centralized problem. In order to analyze the controllers, a control test is proposed and a number of performance indices are defined. The …