Page 143 - Distributed model predictive control for plant-wide systems
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Cooperative Distributed Predictive Control 117
LCO-DMPC
C-DMPC
10
8
6
4
2
0
3
2 30
1 25
0 20
–1 15
log 10 γ –2 10
–3 5 P
(a)
x 10 53
10 1
5 0.5
y 1 y 1
0 0
–5 –0.5
10 20 30 40 10 20 30 40
Time (s) Time (s)
1 1
0.5 0.5
y 2 y 2
0 0
–0.5 –0.5
10 20 30 40 10 20 30 40
Time (s) Time (s)
0.5 1
u 1 0.5
0 u 1
0
–0.5 –0.5
10 20 30 40 10 20 30 40
Time (s) Time (s)
2 0.5
u 1 1
u 2 0
0
–1 –0.5
10 20 30 40 10 20 30 40
Time (s) Time (s)
(b)
Figure 6.3 Plant with = 10: (a) maximum closed-loop eigenvalues with LCO-DMPC and C-DMPC;
(b) control performance with = 1 for LCO-DMPC (blue line, unstable) and C-DMPC (red line,
MSE = 0. 1544).
