Fundamentals of economic model predictive control

Rawlings, James B.; Angeli, David; Bates, Cuyler N.

doi:10.1109/cdc.2012.6425822

Cited by 248 publications

(221 citation statements)

References 30 publications

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“…Moreover, assuming the water demand and the energy price as periodically time-varying signals, this paper uses the results in [9], [11], [15], [20], and adds periodic terminal constraints to the MPC controller developed in [14] to equip it with guarantees of recursive feasibility and convergence. Even when this paper uses a small-scale case study, the proof of concept may be potentially extended to large-scale DWNs.…”

Section: Introductionmentioning

confidence: 99%

“…Nevertheless, as discussed in [7], model inconsistencies, setpoint changes, time-varying parameters, disturbances, and time-scale differences may lead the system to unreachable set-points, suboptimal economic performance and feasibility loss. In order to tackle some of the main drawbacks of the typical hierarchical scheme and take more economic profit from the transitory behaviour of the system, some authors have proposed to integrate the economic optimisation within the MPC using either a two-layer approach, see, e.g., [6], [19], or a single-layer approach, i.e., the so called economic MPC (EMPC) [15]. It has been shown in the aforementioned references that closed-loop stability and/or average asymptotic performance can be guaranteed under some form of dissipativity, duality or convexity assumptions.…”

Section: Introductionmentioning

confidence: 99%

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Economic MPC for the management of drinking water networks

Grosso

Ocampo‐Martínez

Puig

et al. 2014

2014 European Control Conference (ECC)

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Abstract-This paper addresses the management of drinking water networks (DWNs) regarding a multi-objective cost function by means of economically-oriented model predictive control (EMPC) strategies. Specifically, assuming the water demand and the energy price as periodically time-varying signals, this paper shows that the EMPC framework is flexible to enhance the control of DWNs without relying on hierarchical control schemes that require the use of real-time optimisers (RTO) or steady-state target optimisers (SSTO) in an upper layer. Four different MPC strategies are discussed in this paper: a hierarchical two-layer approach, a standard EMPC where the multi-objective cost function is optimised directly, and two different modifications of the latter, which are meant to overcome possible feasibility losses in the presence of changing operating patterns. The discussed schemes are tested and compared by means of a case study taken from a part of the Barcelona DWN.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Economic MPC for the management of drinking water networks

Grosso

Ocampo‐Martínez

Puig

et al. 2014

2014 European Control Conference (ECC)

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“…Much research has, therefore, been focused on extending the MPC framework to also handle optimization of process economics. The idea of optimizing economics directly has been reported in many works [1], [3]- [5]. Research has also been performed on stability theory, showing that limit cycles may arise because these are economically favourable [6].…”

Section: Introductionmentioning

confidence: 99%

“…Within conventional process control, the economic optimization considerations of a plant are usually indirectly addressed or addressed in a separate real-time optimization (RTO) layer that performs a steady-state economic optimization of the process variables [1]. Recent advances have focused on optimizing the higherlevel objectives, such as economics, directly in the process control layer.…”

Section: Introductionmentioning

confidence: 99%

Real-time economic optimization for a fermentation process using Model Predictive Control

Petersen

Jørgensen

2014

2014 European Control Conference (ECC)

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Abstract-Fermentation is a widely used process in production of many foods, beverages, and pharmaceuticals. The main goal of the control system is to maximize profit of the fermentation process, and thus this is also the main goal of this paper. We present a simple dynamic model for a fermentation process and demonstrate its usefulness in economic optimization. The model is formulated as an index-1 differential algebraic equation (DAE), which guarantees conservation of mass and energy in discrete form. The optimization is based on recent advances within Economic Nonlinear Model Predictive Control (E-NMPC), and also utilizes the index-1 DAE model. The E-NMPC uses the single-shooting method and the adjoint method for computation of the optimization gradients. The process constraints are relaxed to soft-constraints on the outputs. Finally we derive the analytical solution to the economic optimization problem and compare it with the numerically determined solution.

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“…Therefore, the authors motivate the MPC design based on a kinematic vehicle model since it is simpler than the dynamical model and still considerably accurate. Economic MPC (EMPC) [12] is a recent variant of MPC, which was born to efficiently combine the hierarchical separation between economic and dynamic performance. Typically, an upper layer provides the optimal set-point (from the economic point of view) to the MPC, which is responsible for stabilizing the system and reject any disturbances (from the dynamical point of view).…”

Section: Introductionmentioning

confidence: 99%

Experimental evaluation of economic model predictive control for an autonomous truck

Lima

Trincavelli

Nilsson

et al. 2016

2016 IEEE Intelligent Vehicles Symposium (IV)

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Abstract-In this paper, we propose a controller for smooth autonomous path following. The controller is formulated as an economic model predictive controller. The economic cost introduced in the objective function leads to a smooth driving, since we minimize the first and second derivatives of the curvature function (i.e., we encourage linear curvature profiles). Since the curvature in clothoids varies linearly with the path arc-length, we use the smoothness and comfort characteristics of clothoid-driving to obtain a compact and intuitive controller formulation. We enforce convergence of the controller to the reference path with soft constraints that avoid deviations from the reference path. Finally, we present real life experiments where the controller is deployed on a Scania construction truck that show that the proposed controller outperforms a purepursuit controller. Moreover, we detail how the few tuning parameters can affect the obtained solution in practice.

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Fundamentals of economic model predictive control

Cited by 248 publications

References 30 publications

Economic MPC for the management of drinking water networks

Economic MPC for the management of drinking water networks

Real-time economic optimization for a fermentation process using Model Predictive Control

Experimental evaluation of economic model predictive control for an autonomous truck

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