Primal or dual terminal constraints in economic MPC? : comparison and insights

Publikationstyp
Book Part
Date Issued
2021
Sprache
English
Author(s)
Faulwasser, Timm  
Zanon, Mario
TORE-URI
https://hdl.handle.net/11420/46193
First published in
Lecture notes in control and information sciences  
Number in series
485 LNCIS
Start Page
45
End Page
64
Citation
Lecture Notes in Control and Information Sciences 485: 45-64 (2021)
Publisher DOI
10.1007/978-3-030-63281-6_3
Scopus ID
2-s2.0-85104670558
Publisher
Springer Nature
ISBN
978-3-030-63281-6
978-3-030-63280-9
This chapter compares different formulations for economic nonlinear model predictive control (EMPC) which are all based on an established dissipativity assumption on the underlying optimal control problem (OCP). This includes schemes with and without stabilizing terminal constraints, respectively, or with stabilizing terminal costs. We recall that a recently proposed approach based on gradient correcting terminal penalties implies a terminal constraint on the adjoints of the OCP. We analyze the feasibility implications of these dual/adjoint terminal constraints and we compare our findings to approaches with and without primal terminal constraints. Moreover, we suggest a conceptual framework for the approximation of the minimal stabilizing horizon length. Finally, we illustrate our findings considering a chemical reactor as an example.
Subjects
EMPC
Model predictive control
Optimal control systems
DDC Class
004: Computer Sciences
333.7: Natural Resources, Energy and Environment
510: Mathematics