Robust stability of economically oriented infinite horizon NMPC that include cyclic processes |
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Authors: | Rui Huang Lorenz T. BieglerEranda Harinath |
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Affiliation: | a United Technology Research Center, 411 Silver Lane, East Hartford, CT 06108, USA b Department of Chemical Engineering, Carnegie Mellon University, 5000 Forbes Avenue, Pittsburgh, PA 15213, USA c Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada |
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Abstract: | Nonlinear model predictive control (NMPC) with economic objective attracts growing interest. In our previous work [1], nominal stability of economically oriented NMPC for cyclic processes was proved by introducing a transformed system, and an infinite horizon NMPC formulation with discount factors was proposed. Moreover, the nominal stability property for economically oriented NMPC was analyzed in [2] for a class of systems satisfying strong duality. In this study, we extend the previous stability analysis in [1] to a general infinite horizon NMPC formulation with economic objectives. Instead of the strong duality assumption, we require the stage cost to be strongly convex, which is easier to check for a general nonlinear system. In addition, robust stability of this NMPC controller is also analyzed based on the Input-to-State Stability (ISS) framework. A simulated nonlinear double tank system subject to periodic change in electricity price is presented to illustrate the stability property. Finally, an industrial size air separation unit case study with periodic electricity cost is presented. |
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Keywords: | Economic objective Nonlinear model predictive control Robust stability Cyclic processes |
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