On finite-time and infinite-time cost improvement of economic model predictive control for nonlinear systems

Economic model predictive control of nonlinear process systems using empirical models

“…EMPC is a feedback control technique that attempts to tightly integrate economic optimization and feedback control since it is a predictive control scheme that is formulated with an objective function representing the process/system economics [1,2,34] (see, also, [3] for an overview of recent results on EMPC). While initial efforts on EMPC have focused on closed-loop stability considerations recent developments have addressed economic performance improvement over conventional (tracking) model predictive control (MPC) including: formulating a Lyapunovbased EMPC with closed-loop performance guarantees over finite-time and infinite-time operating intervals [35], investigating the transient performance and closed-loop stability of EMPC formulated without terminal constraints [12], and studying the closed-loop performance of EMPC formulated with a self-tuning terminal cost and generalized terminal constraint [13].…”

Economic and Distributed Model Predictive Control: Recent Developments in Optimization-Based Control

“…Lyapunov-based economic MPC schemes are, e.g., developed in [104], [106], [107]. Here, constraints based on a known control Lyapunov function are added to the repeatedly solved optimization problem to ensure that the system stays within a certain stability region or converges there.…”

“…The generalization of this result to the case where steady-state operation is not optimal is still open. A different finite-time performance estimate was obtained in [104]. There, the authors establish that the finite-time performance of a certain shrinking-horizon economic MPC scheme is at least as good as the one of a certain stabilizing MPC controller.…”

A Modifier-Adaptation Strategy towards Offset-Free Economic MPC

“…Hence, for certain systems and cost functions, oscillating solutions may be economically more profitable than steady-state ones, giving rise to the concept of average asymptotic performance of economic MPC, which is deeply developed in [32,33]. Despite that, in the literature, there are also formulations of the Lyapunov-based EMPC by taking advantage of an auxiliary MPC problem solution [34,35].…”