Page 259 - Distributed model predictive control for plant-wide systems

Networked Distributed Predictive Control with Inputs and Information Structure Constraints 233

u 1
0
u 2
u 3
u 4
–0.5
u i

-1

–1.5
5 10 15 20
Time (s)

Figure 10.5 The evolution of the control inputs under the centralized MPC

x 1
1
x 2
x 3
x 4
0.5
x i

0

–0.5
5 10 15 20
Time (s)

Figure 10.6 The evolution of the states under the LCO-DMPC

u 1
0
u 2
u 3
u 4
–0.5
u i
–1

–1.5
5 10 15 20
Time (s)

Figure 10.7 The evolution of the control inputs under the LCO-DMPC