There exist frequent economic cost changes in many process systems due to variations in price, market demand, disturbance, etc. This change switches the economic setpoint of processes throughout their operation and may cause a loss of feasibility and/or stability in economic model predictive control (EMPC). In this paper, we present a novel Lyapunov-based EMPC scheme for optimization of changing economic costs of constrained nonlinear systems. The dual-mode paradigm is used to guarantee stability and constraint satisfaction in the presence of changing economic costs. Parameterization control actions are also adopted to decrease the computational effort of solving EMPC optimization. An equilibrium manifold is introduced to unify the terminal regions of local control Lyapunov functions (CLFs) and this enlarges the domain of attraction of the closed-loop system with EMPC. Moreover, the proposed controller is shown to be always feasible for any change in economic costs and asymptotic stable by providing some CLFs of the nonlinear system. Finally, an example of CSTR is exploited to demonstrate the effectiveness of the proposed scheme, compared with traditional EMPC.

中文翻译：

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具有变化经济成本的约束非线性系统的基于李雅普诺夫的 EMPC

由于价格、市场需求、干扰等的变化，许多过程系统中存在频繁的经济成本变化。这种变化在整个操作过程中切换过程的经济设定点，并可能导致经济模型预测控制的可行性和/或稳定性的损失(EMPC)。在本文中，我们提出了一种新的基于李雅普诺夫的 EMPC 方案，用于优化受约束非线性系统的经济成本变化。双模式范式用于在经济成本不断变化的情况下保证稳定性和约束满足。还采用参数化控制动作来减少求解 EMPC 优化的计算工作量。引入了平衡流形来统一局部控制李雅普诺夫函数 (CLF) 的终端区域，这扩大了具有 EMPC 的闭环系统的吸引力域。此外，通过提供非线性系统的一些 CLF，表明所提出的控制器对于经济成本和渐近稳定的任何变化总是可行的。最后，与传统的 EMPC 相比，利用 CSTR 的一个例子来证明所提出的方案的有效性。