Tube-based robust economic model predictive control |
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| Affiliation: | 1. Institute for Systems Theory and Automatic Control, University of Stuttgart, 70550 Stuttgart, Germany;2. Department of Electrical and Electronic Engineering, Imperial College, London, UK;3. Dipartimento di Ingegneria dell''Informazione, University of Florence, Italy;1. Institute for Systems Theory and Automatic Control, University of Stuttgart, Germany;2. Control System Technology Group, Department of Mechanical Engineering, Eindhoven University of Technology, The Netherlands;1. Department of Chemical Engineering, Carnegie Mellon University, Pittsburgh, PA, United States;2. Department of Chemical and Biological Engineering, University of Wisconsin-Madison, Madison, WI, United States |
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| Abstract: | In this paper, we develop a tube-based economic MPC framework for nonlinear systems subject to unknown but bounded disturbances. Instead of simply transferring the design procedure of tube-based stabilizing MPC to an economic MPC framework, we rather propose to consider the influence of the disturbance explicitly within the design of the MPC controller, which can lead to an improved closed-loop average performance. This will be done by using a specifically defined integral stage cost, which is the key feature of our proposed robust economic MPC algorithm. Furthermore, we show that the algorithm enjoys similar properties as a nominal economic MPC algorithm (i.e., without disturbances), in particular with respect to bounds on the asymptotic average performance of the resulting closed-loop system, as well as stability and optimal steady-state operation. |
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| Keywords: | Economic model predictive control Robust model predictive control Set-based control |
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