Recent advances in economic MPC: Towards sustained optimal performance in the presence of uncertainties
Gabriele Pannocchia
Prof. at Dipartimento di Ingegneria Civile e Industriale,
Università di Pisa
DEIB - Seminar Room (building 20)
July 18th, 2019
11.30 am
Contacts:
Riccardo Scattolini
Research Line:
Control systems
Prof. at Dipartimento di Ingegneria Civile e Industriale,
Università di Pisa
DEIB - Seminar Room (building 20)
July 18th, 2019
11.30 am
Contacts:
Riccardo Scattolini
Research Line:
Control systems
Sommario
This seminar addresses the design principles of Economic Model Predictive Control (EMPC) systems to cope with the presence of structural mismatch between the actual plant dynamics and MPC model. The general goal is to asymptotically reach the optimal equilibrium for the unknown plant.
In Economic MPC formulations, the cost function is not positive definite around the optimal equilibrium, and therefore the methods developed in past years to achieve offset-free tracking may not guarantee convergence to the unknown optimal equilibrium of the plant.
For this class of MPC systems, we present the recent results on offset-free design which includes, in addition to an augmented model as in tracking MPC, a suitable first-order modifier to achieve matching of the necessary conditions of optimality (KKT). We also present a variant of the proposed economic MPC design that avoids the use of a terminal constraint, and hence the necessity of solving a target calculation problem, at each sampling time, before solving the finite-horizon optimal control problem.
Computation of first-order modifiers requires, in principle, knowledge of steady-state plant gradient information, and therefore we conclude the seminar with a discussion about implementation strategies based on available input-output measurements.
In Economic MPC formulations, the cost function is not positive definite around the optimal equilibrium, and therefore the methods developed in past years to achieve offset-free tracking may not guarantee convergence to the unknown optimal equilibrium of the plant.
For this class of MPC systems, we present the recent results on offset-free design which includes, in addition to an augmented model as in tracking MPC, a suitable first-order modifier to achieve matching of the necessary conditions of optimality (KKT). We also present a variant of the proposed economic MPC design that avoids the use of a terminal constraint, and hence the necessity of solving a target calculation problem, at each sampling time, before solving the finite-horizon optimal control problem.
Computation of first-order modifiers requires, in principle, knowledge of steady-state plant gradient information, and therefore we conclude the seminar with a discussion about implementation strategies based on available input-output measurements.
Biografia
Gabriele Pannocchia received the Ph.D. degree in Chemical Engineering from the University of Pisa (Italy) in 2002, where he currently is Associate Professor. He held a Visiting Associate position at the University of Wisconsin - Madison (WI, USA) in 2000/2001 and in 2008.
Dr. Pannocchia is author of more than 100 papers in international journals, book chapters and in proceedings of international conferences.
Dr. Pannocchia is Senior Editor for the Journal of Process Control, Associate Editor of Automatica, and in the Editorial board of Processes. He is Vice-Chair for Education of the IFAC TC 2.4 (Optimal Control).
Dr. Pannocchia was IPC co-chair of the IFAC Symposium DYCOPS 2013 held in Mumbai (India), Area Co-Chair/Associate Editor in IFAC DYCOPS 2016, IFAC World Congress 2017, IFAC NMPC 2018, UK Control 2018. He has been keynote speaker in several international congresses (IFAC DYCOPS 2010, IFAC NMPC 2015, IFAC DYCOPS 2016, IFAC ADCHEM 2018). Dr. Pannocchia will be the NOC Chair of ADCHEM 2021 to be held in Venice (Italy).
His research interests include: model predictive control systems, process simulation and optimization, numerical optimization, multivariable systems identification and performance monitoring, optimal planning and control for robotic systems.
Dr. Pannocchia is author of more than 100 papers in international journals, book chapters and in proceedings of international conferences.
Dr. Pannocchia is Senior Editor for the Journal of Process Control, Associate Editor of Automatica, and in the Editorial board of Processes. He is Vice-Chair for Education of the IFAC TC 2.4 (Optimal Control).
Dr. Pannocchia was IPC co-chair of the IFAC Symposium DYCOPS 2013 held in Mumbai (India), Area Co-Chair/Associate Editor in IFAC DYCOPS 2016, IFAC World Congress 2017, IFAC NMPC 2018, UK Control 2018. He has been keynote speaker in several international congresses (IFAC DYCOPS 2010, IFAC NMPC 2015, IFAC DYCOPS 2016, IFAC ADCHEM 2018). Dr. Pannocchia will be the NOC Chair of ADCHEM 2021 to be held in Venice (Italy).
His research interests include: model predictive control systems, process simulation and optimization, numerical optimization, multivariable systems identification and performance monitoring, optimal planning and control for robotic systems.