摘要：AbstractDesigning an economic model predictive control (EMPC) algorithm that asymptotically achieves the optimal performance in presence of plant-model mismatch is still an open problem. Starting from previous work, we elaborate an EMPC algorithm using the offset-free formulation from tracking MPC algorithms in combination with modifier-adaptation technique from the real-time optimization (RTO) field. The augmented state used for offset-free design is estimated using a Moving Horizon Estimator formulation, and we also propose a method to estimate the required plant steady-state gradients using a subspace identification algorithm. Then, we show how the proposed formulation behaves on a simple illustrative example.
关键词：KeywordsEconomic Model Predictive Control (EMPC)Real-Time Optimization (RTO)Modifier-adaptationMoving Horizon Estimator (MHE)Systems identification
