Page 230 - Distributed model predictive control for plant-wide systems

204 Distributed Model Predictive Control for Plant-Wide Systems

0.4
0.2
x 1 0
–0.2
0 10 20 30 40 50 60 70 80
Time (s)

1
x 2 0.5
0
0 10 20 30 40 50 60 70 80
Time (s)
1.5
1
x 3
0.5
0
0 10 20 30 40 50 60 70 80
Time (s)
1.5
1
x 4
0.5
0
0 10 20 30 40 50 60 70 80
Time (s)
0.5
0
x 5 –0.5
1
–1.5
0 10 20 30 40 50 60 70 80
Time (s)

1
x 6
0.5
0
0 10 20 30 40 50 60 70 80
Time (s)

1.5
1
x 7 0.5
0
–0.5
0 10 20 30 40 50 60 70 80
Time (s)
Centralized MPC
C-DMPC
LCO-DMPC
Setpoint

Figure 9.3 The evolution of the states under the centralized MPC, LCO-DMPC, and C-DMPC