Journal of Process Control, Vol.24, No.8, 1179-1186, 2014
On the performance of economic model predictive control with self-tuning terminal cost
In this paper, we analyze the closed-loop performance of a recently introduced economic model predictive control (MPC) scheme with self-tuning terminal cost. To this end, we propose to use a generalized terminal region constraint instead of a generalized terminal equality constraint within the repeatedly solved optimization problem, which allows us to obtain improved closed-loop asymptotic average performance bounds. In particular, these bounds can be obtained a priori. We discuss how the necessary parameters for the generalized terminal region setting can be calculated, and we illustrate our findings with two numerical examples. (C) 2014 Elsevier Ltd. All rights reserved.
Keywords:Economic model predictive control;Self-tuning terminal cost;Generalized terminal constraint