Distributed model predictive control for plant-wide systems

330 Pages·2015·8.937 MB·English

by  Li, Shaoyuan, Zheng, Yi

DISTRIBUTED MODEL
PREDICTIVE CONTROL
FOR PLANT-WIDE
SYSTEMS

DISTRIBUTED MODEL
PREDICTIVE CONTROL
FOR PLANT-WIDE
SYSTEMS
ShaoyuanLiandYiZheng
ShanghaiJiaoTongUniversity,China
Thiseditionfirstpublished2015
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ISBN:9781118921562
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12015
Contents
Preface xi
AbouttheAuthors xv
Acknowledgement xvii
ListofFigures xix
ListofTables xxiii
1 Introduction 1
1.1 Plant-WideSystem 1
1.2 ControlSystemStructureofthePlant-WideSystem 3
1.2.1 CentralizedControl 4
1.2.2 DecentralizedControlandHierarchicalCoordinated
DecentralizedControl 5
1.2.3 DistributedControl 6
1.3 PredictiveControl 8
1.3.1 WhatisPredictiveControl 8
1.3.2 AdvantageofPredictiveControl 9
1.4 DistributedPredictiveControl 9
1.4.1 WhyDistributedPredictiveControl 9
1.4.2 WhatisDistributedPredictiveControl 10
1.4.3 AdvantageofDistributedPredictiveControl 10
1.4.4 ClassificationofDMPC 11
1.5 AboutthisBook 13
PartI FOUNDATION
2 ModelPredictiveControl 19
2.1 Introduction 19
2.2 DynamicMatrixControl 20
2.2.1 StepResponseModel 20
2.2.2 Prediction 21
vi Contents
2.2.3 Optimization 22
2.2.4 FeedbackCorrection 23
2.2.5 DMCwithConstraint 24
2.3 PredictiveControlwiththeStateSpaceModel 26
2.3.1 SystemModel 27
2.3.2 PerformanceIndex 28
2.3.3 Prediction 28
2.3.4 Closed-LoopSolution 30
2.3.5 StateSpaceMPCwithConstraint 31
2.4 DualModePredictiveControl 33
2.4.1 InvariantRegion 33
2.4.2 MPCFormulation 34
2.4.3 Algorithms 35
2.4.4 FeasibilityandStability 36
2.5 Conclusion 37
3 ControlStructureofDistributedMPC 39
3.1 Introduction 39
3.2 CentralizedMPC 40
3.3 Single-LayerDistributedMPC 41
3.4 HierarchicalDistributedMPC 42
3.5 ExampleoftheHierarchicalDMPCStructure 43
3.6 Conclusion 45
4 StructureModelandSystemDecomposition 47
4.1 Introduction 47
4.2 SystemMathematicModel 48
4.3 StructureModelandStructureControllability 50
4.3.1 StructureModel 50
4.3.2 FunctionoftheStructureModelinSystemDecomposition 51
4.3.3 Input–OutputAccessibility 53
4.3.4 GeneralRankoftheStructureMatrix 56
4.3.5 StructureControllability 56
4.4 RelatedGainArrayDecomposition 58
4.4.1 RGADefinition 59
4.4.2 RGAInterpretation 60
4.4.3 PairingRules 61
4.5 Conclusion 63
PartII UNCONSTRAINEDDISTRIBUTEDPREDICTIVECONTROL
5 LocalCostOptimization-basedDistributedModelPredictiveControl 67
5.1 Introduction 67
5.2 LocalCostOptimization-basedDistributedPredictiveControl 68
5.2.1 ProblemDescription 68
5.2.2 DMPCFormulation 69
Contents vii
5.2.3 Closed-loopSolution 72
5.2.4 StabilityAnalysis 79
5.2.5 SimulationResults 79
5.3 DistributedMPCStrategyBasedonNashOptimality 82
5.3.1 Formulation 83
5.3.2 Algorithm 86
5.3.3 ComputationalConvergenceforLinearSystems 86
5.3.4 NominalStabilityofDistributedModelPredictiveControlSystem 88
5.3.5 PerformanceAnalysiswithSingle-stepHorizonControlUnder
CommunicationFailure 89
5.3.6 SimulationResults 94
5.4 Conclusion 99
Appendix 99
AppendixA.QPproblemtransformation 99
AppendixB.ProofofTheorem5.1 100
6 CooperativeDistributedPredictiveControl 103
6.1 Introduction 103
6.2 NoniterativeCooperativeDMPC 104
6.2.1 SystemDescription 104
6.2.2 Formulation 104
6.2.3 Closed-FormSolution 107
6.2.4 StabilityandPerformanceAnalysis 109
6.2.5 Example 113
6.3 DistributedPredictiveControlbasedonParetoOptimality 114
6.3.1 Formulation 118
6.3.2 Algorithm 119
6.3.3 TheDMPCAlgorithmBasedonPlant-WideOptimality 119
6.3.4 TheConvergenceAnalysisoftheAlgorithm 121
6.4 Simulation 121
6.5 Conclusions 123
7 NetworkedDistributedPredictiveControlwithInformation
StructureConstraints 125
7.1 Introduction 125
7.2 NoniterativeNetworkedDMPC 126
7.2.1 ProblemDescription 126
7.2.2 DMPCFormulation 127
7.2.3 Closed-FormSolution 132
7.2.4 StabilityAnalysis 135
7.2.5 AnalysisofPerformance 135
7.2.6 NumericalValidation 137
7.3 NetworkedDMPCwithIterativeAlgorithm 144
7.3.1 ProblemDescription 144
7.3.2 DMPCFormulation 145
7.3.3 NetworkedMPCAlgorithm 147
7.3.4 ConvergenceandOptimalityAnalysisforNetworked 150
viii Contents
7.3.5 NominalStabilityAnalysisforDistributedControlSystems 152
7.3.6 SimulationStudy 153
7.4 Conclusion 159
Appendix 159
AppendixA.ProofofLemma7.1 159
AppendixB.ProofofLemma7.2 160
AppendixC.ProofofLemma7.3 160
AppendixD.ProofofTheorem7.1 161
AppendixE.ProofofTheorem7.2 161
AppendixF.DerivationoftheQPproblem(7.52) 164
PartIII CONSTRAINTDISTRIBUTEDPREDICTIVECONTROL
8 LocalCostOptimizationBasedDistributedPredictiveControlwith
Constraints 169
8.1 Introduction 169
8.2 ProblemDescription 170
8.3 StabilizingDualModeNoncooperativeDMPCwithInputConstraints 171
8.3.1 Formulation 171
8.3.2 AlgorithmDesignforResolvingEachSubsystem-basedPredictive
Control 176
8.4 Analysis 177
8.4.1 RecursiveFeasibilityofEachSubsystem-basedPredictiveControl 177
8.4.2 StabilityAnalysisofEntireClosed-loopSystem 183
8.5 Example 184
8.5.1 TheSystem 184
8.5.2 PerformanceComparisonwiththeCentralizedMPC 185
8.6 Conclusion 187
9 CooperativeDistributedPredictiveControlwithConstraints 189
9.1 Introduction 189
9.2 SystemDescription 190
9.3 StabilizingCooperativeDMPCwithInputConstraints 191
9.3.1 Formulation 191
9.3.2 ConstraintC-DMPCAlgorithm 193
9.4 Analysis 194
9.4.1 Feasibility 194
9.4.2 Stability 199
9.5 Simulation 201
9.6 Conclusion 208
10 NetworkedDistributedPredictiveControlwithInputsand
InformationStructureConstraints 209
10.1 Introduction 209
10.2 ProblemDescription 210