This paper presents sloshing suppression control of liquid with the desirable-speed transfer. In order to suppress the sloshing, mathematical model comprised of the continuous equation and the pressure equation is used and the sloshing phenomena are analyzed by using Boundary Element Method (BEM). Further, BEM model is transformed into the state-variable model. The proposed model can estimate not only first-order mode sloshing but also higher-order mode sloshing and predict the future behavior of liquid level more exactly. Moreover, the sloshing is suppressed by using Model Predictive Control method (MPC). We were able to move the container under minimum sloshing keeping the desirable speed.
