Page 231 - Distributed model predictive control for plant-wide systems

Cooperative Distributed Predictive Control with Constraints 205

0.4
0.2
u 1 0
–0.2
0 10 20 30 40 50 60 70 80
Time (s)
0.8
0.6
u 2 0.4
0.2
0
–0.2
0 10 20 30 40 50 60 70 80
Time (s)

1
0.5
u 3
0
–0.5
0 10 20 30 40 50 60 70 80
Time (s)
1
u 4 0.5
0
0 10 20 30 40 50 60 70 80
Time (s)

0.5
0
u 5
–0.5
–1
0 10 20 30 40 50 60 70 80
Time (s)

1
u 6 0.5
0
0 10 20 30 40 50 60 70 80
Time (s)
1
u 7 0

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

Figure 9.4 The evolution of the inputs under the centralized MPC, LCO-DMPC, and C-DMPC