Coordination of distributed MPC systems using a nonlinear dynamic plant model with closed-loop prediction

This paper presents a novel coordination scheme for distributed MPCs using a dynamic real-time optimization (DRTO) formulation with closed-loop prediction and a nonlinear dynamic plant model. The DRTO formulation generates the predicted closed-loop response of a nonlinear plant under the action of constrained distributed MPC for computing optimal set-point trajectories based on an economic or target-tracking performance objective. The performance of the formulation is assessed through evaluation on a nonlinear case study, with comparisons made between distributed, centralized and decentralized configurations.