Approximation techniques for dynamic real-time optimization (DRTO) of distributed MPC systems

A dynamic real-time optimization (DRTO) strategy has recently been proposed for coordination of distributed MPC systems. The scheme utilizes a prediction model that accounts for the impact of the distributed controllers on the plant response. Two techniques are presented for approximating the closed-loop prediction within the DRTO formulation - a hybrid closed-loop and an input clipping formulation. The hybrid formulation generates closed-loop …