Page 10 - Distributed model predictive control for plant-wide systems

viii Contents

7.3.5 Nominal Stability Analysis for Distributed Control Systems 152
7.3.6 Simulation Study 153
7.4 Conclusion 159
Appendix 159
Appendix A. Proof of Lemma 7.1 159
Appendix B. Proof of Lemma 7.2 160
Appendix C. Proof of Lemma 7.3 160
Appendix D. Proof of Theorem 7.1 161
Appendix E. Proof of Theorem 7.2 161
Appendix F. Derivation of the QP problem (7.52) 164

Part III CONSTRAINT DISTRIBUTED PREDICTIVE CONTROL

8 Local Cost Optimization Based Distributed Predictive Control with
Constraints 169
8.1 Introduction 169
8.2 Problem Description 170
8.3 Stabilizing Dual Mode Noncooperative DMPC with Input Constraints 171
8.3.1 Formulation 171
8.3.2 Algorithm Design for Resolving Each Subsystem-based Predictive
Control 176
8.4 Analysis 177
8.4.1 Recursive Feasibility of Each Subsystem-based Predictive Control 177
8.4.2 Stability Analysis of Entire Closed-loop System 183
8.5 Example 184
8.5.1 The System 184
8.5.2 Performance Comparison with the Centralized MPC 185
8.6 Conclusion 187

9 Cooperative Distributed Predictive Control with Constraints 189
9.1 Introduction 189
9.2 System Description 190
9.3 Stabilizing Cooperative DMPC with Input Constraints 191
9.3.1 Formulation 191
9.3.2 Constraint C-DMPC Algorithm 193
9.4 Analysis 194
9.4.1 Feasibility 194
9.4.2 Stability 199
9.5 Simulation 201
9.6 Conclusion 208

10 Networked Distributed Predictive Control with Inputs and
Information Structure Constraints 209
10.1 Introduction 209
10.2 Problem Description 210