Coordination of Distributed MPC Systems via Dynamic Real-time Optimization **This work is sponsored by the McMaster Advanced Control Consortium (MACC) and the Ministry of Higher Education (MOHE), Malaysia

This paper focuses on the application of a dynamic real-time optimization (DRTO) formulation utilizing an approximation of plant closed-loop prediction for coordination of distributed model predictive control (MPC) systems. We formulate the DRTO problem as a bilevel program that embeds the optimization problems of all MPC controllers functioning in the process, hence computing the set-point trajectories for all controllers simultaneously. The …