Use of Back-off Computation in Multilevel MPC

Abstract

The desired operating point in Model Predictive Control is determined by a local steady-state optimization, which may be based on an economic objective. In this paper we proposes the solution of a linear dynamic back-off problem to obtain a hierarchical scheme that ensures feasible operation in despite of disturbances. This is performed by computing the critical disturbances and expanding the optimziation problem to ensure the existence of a control action that ensures the rejection of each perturbation.