Homothetic tube-based robust offset-free economic Model Predictive Control
Author(s)
Dong, Zihang
Angeli, David
Type
Journal Article
Abstract
This paper proposes a novel economic Model Predictive Control algorithm aiming at achieving optimal steady-state performance despite the presence of plant-model mismatch or unmeasured nonzero mean disturbances. According to the offset-free formulation, the system’s state is augmented with disturbances and transformed into a new coordinate framework. Based on the new variables, the proposed controller integrates a moving horizon estimator to determine a solution of the nominal system surrounded by a set of potential states compatible with past input and output measurements. The worst cost within a single homothetic tube around the nominal solution is chosen as the economic objective function which is minimized to provide a tightened upper bound for the accumulated real cost within the prediction horizon window. Thanks to the combined use of the nominal system and homothetic tube, the designed optimization problem is recursively feasible and less conservative economic performance bounds are achieved. The proposed controller is demonstrated on a two-tanks system.
Date Issued
2020-09-01
Date Acceptance
2020-05-22
Citation
Automatica, 2020, 119, pp.1-6
ISSN
0005-1098
Publisher
Elsevier
Start Page
1
End Page
6
Journal / Book Title
Automatica
Volume
119
Copyright Statement
© 2020 Elsevier Ltd. All rights reserved. This manuscript is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International Licence http://creativecommons.org/licenses/by-nc-nd/4.0/
Identifier
http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000551496400052&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=1ba7043ffcc86c417c072aa74d649202
Subjects
Science & Technology
Technology
Automation & Control Systems
Engineering, Electrical & Electronic
Engineering
Robust economic model predictive control
Output feedback and observers
Optimal controller synthesis for systems with uncertainties
Optimization-based controller synthesis
Robust estimation
MPC
STABILITY
Publication Status
Published
Article Number
ARTN 109105
Date Publish Online
2020-06-24