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Disturbance Handling in Economic Model Predictive Control

Economic model predictive control (EMPC) is a recent development of MPC where the usual quadratic objective is replaced by an economic objective reflecting the real cost of operation (Ellis et al., 2014). The target in EMPC is hence to directly minimize the cost of operation whereas the usual target in MPC is to keep the process close to a predetermined steady-state or trajectory (sometimes determined by a supervisory economic optimization layer). A benefit of this approach is that the controller itself is economically aware, which may lead to better economic performance during transient modes of operation (Ellis et al., 2014). In this work we consider the use of EMPC to utilize the extra degrees of freedom that exist in fat systems and also address the problem of handling unmeasured disturbances.