Economic Model Predictive Control: Elucidation of the Role of Constraints

Ecoi[omic model predictive control (LV1PC) is a predictive feedback control methodology that unifies economic optimization and control. EMPC uses a stage cost that reflects the process/system economics. In general, the stage cost used is not a yiadratic stage cost like that typically used in standard tracking model predictive control. In this paper, a brief overview of EMPC methods is provided. In particular, the role of constraints imposed in the optimization problem of ENI-PC': for feasibility, closed-loop stability, and closed-loop performance is explained. Three main types of constraints are considered including terminal equality constraints, terminal region constraints, and constraints designed via Lyapunov-based techniques. The paper closes with a well-known chemical engineering example (a non-isothermal CSTR with a second-order reaction) to illustrate the effectiveness of time-varying operation to improve closed-loop economic performance compared to steady-state operation and to demonstrate the impact, of economically motivated constraints on optimal operation.