On finite-time and infinite-time cost improvement of economic model predictive control for nonlinear systems |
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Authors: | Matthew Ellis Panagiotis D. Christofides |
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Affiliation: | 1. Department of Chemical and Biomolecular Engineering, University of California, Los Angeles, CA 90095-1592, USA;2. Department of Electrical Engineering, University of California, Los Angeles, CA 90095-1592, USA |
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Abstract: | A novel two-layer economic model predictive control (EMPC) structure that addresses provable finite-time and infinite-time closed-loop economic performance of nonlinear systems in closed-loop with EMPC is presented. In the upper layer, a Lyapunov-based EMPC (LEMPC) scheme is formulated with performance constraints by taking advantage of an auxiliary Lyapunov-based model predictive control (LMPC) problem solution formulated with a quadratic cost function. The lower layer LEMPC uses a shorter prediction horizon and smaller sampling period than the upper layer LEMPC and involves explicit performance-based constraints computed by the upper layer LEMPC. Thus, the two-layer architecture allows for dividing dynamic optimization and control tasks into two layers for a computationally manageable control scheme at the feedback control (lower) layer. A chemical process example is used to demonstrate the performance and stability properties of the two-layer LEMPC structure. |
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Keywords: | Economic model predictive control Process economics Nonlinear systems Dynamic process optimization |
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