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Handbook of Model Predictive Control pp 259–283Cite as

Birkhäuser

Scalable MPC Design

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Abstract

This chapter is devoted to decentralized and distributed MPC architectures for cyberphysical systems composed of subsystems that can be added or removed over time. We focus on MPC design approaches where the synthesis of a local controller requires, at most, pieces of information from parent subsystems, while preserving collective properties such as stability and satisfaction of constraints. In these methods the complexity of MPC design for a subsystem scales with the number of its parents only, rather than the overall system size. In particular, we review plug-and-play synthesis algorithms where the addition and removal of subsystems can be automatically denied if unsafe for the whole system. We provide a tutorial description of the main theoretical concepts behind scalable and plug-and-play MPC, as well as a review of the main approaches available in the literature. Design methods are also illustrated through applications to power network systems and fleets of electric vehicles.

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Notes

  1. 1.

    See, for example, [20] for an overview of distributed optimization methods.

  2. 2.

    Tie-line powers are shown in Chapter 9 in [22].

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Acknowledgements

The material in Section 6.2 is based on the work of Caroline Le Floch and we are grateful for making the simulation results available.

Author information

Authors and Affiliations

  1. Dipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milan, Italy

    Marcello Farina

  2. Automatic Control Laboratory, École Polytechnique Fédérale de Lausanne (EPFL), Lausanne, Switzerland

    Giancarlo Ferrari-Trecate & Colin Jones

  3. United Technologies Research Center, 4th Floor, Penrose Business Center, Penrose Wharf, Cork, Republic of Ireland

    Stefano Riverso

  4. Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland

    Melanie Zeilinger

Authors
  1. Marcello Farina
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  2. Giancarlo Ferrari-Trecate
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  3. Colin Jones
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  4. Stefano Riverso
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  5. Melanie Zeilinger
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Corresponding author

Correspondence to Giancarlo Ferrari-Trecate .

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Editors and Affiliations

  1. Independent Researcher, London, UK

    Saša V. Raković

  2. Department of Electrical and Computer Engineering, University of Maryland, College Park, MD, USA

    William S. Levine

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Farina, M., Ferrari-Trecate, G., Jones, C., Riverso, S., Zeilinger, M. (2019). Scalable MPC Design. In: Raković, S., Levine, W. (eds) Handbook of Model Predictive Control. Control Engineering. Birkhäuser, Cham. https://doi.org/10.1007/978-3-319-77489-3_12

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  • DOI: https://doi.org/10.1007/978-3-319-77489-3_12

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