摘要：AbstractWe show how to design and solve, in a computationally tractable fashion, optimization-based reference governors for systems where multiple inner loops are closed by separate model predictive control (MPC) strategies. These individual controllers, however, do not have the knowledge of higher-level coupling constraints and therefore require coordination. We show that such a coordination can be achieved by formulating and solving a suitable bilevel optimization problem that optimizes the references for the inner controllers. We review an approach to deal with such problems, which relies on the Karush-Kuhn-Tucker optimality conditions. The presented approach is firstly commented, with hints to enhance its practicality, and then applied to an illustrative example.
