Page 260 - Distributed model predictive control for plant-wide systems

234 Distributed Model Predictive Control for Plant-Wide Systems

0.05
Δx 1
0 Δx 2
Δx 3
–0.05
Δx 4
Δx i
–0.1

–0.15

–0.2
5 10 15 20
Time (s)
Figure 10.8 The errors between the absolute value of the state of each subsystem under the centralized
MPC and the absolute value of the state of each subsystem under the N-DMPC
0.2
Δu 1
0.1
Δu 2
0
Δu 3
–0.1 Δu 4
Δu i
–0.2
–0.3

–0.4
–0.5
5 10 15 20
Time (s)

Figure 10.9 The difference between the input of each subsystem produced by the centralized MPC and
the input of each subsystem calculated by the N-DMPC

0.5
Δx 1
0.4
Δx 2
0.3
Δx 3
0.2 Δx 4
Δx i
0.1
0

–0.1
–0.2
5 10 15 20
Time (s)

Figure 10.10 The errors between the absolute value of the state of each subsystem under the local cost
optimization based DMPC and the absolute value of the state of each subsystem under the N-DMPC