This paper proposes a single layer MPC + RTO strategy with guaranteed nominal stability, suitable for systems with stable and unstable modes. The control law applies an approximation of the gradient of an economic function, which drives the closed-loop system towards its desired economic performance, using a quadratic programming based optimization. Included in the optimization problem is a set of slack variables in order to provide a feasible solution at any time step. A reactor with unstable behavior is used to evaluate the effectiveness of the proposed controller and demonstrates its recursive feasibility and the convergence of the closed-loop system towards the desired economic performance. Two case studies are assessed: the first examines the nominal characteristics of the proposed strategy, while the second assesses the robustness of the proposed strategy by controlling the nonlinear model of the plant.

中文翻译：

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用于不稳定过程的一层基于梯度的 MPC + RTO 策略：CSTR 系统的案例研究

本文提出了一种具有保证标称稳定性的单层 MPC + RTO 策略，适用于具有稳定和不稳定模式的系统。控制律应用经济函数梯度的近似值，使用基于二次规划的优化将闭环系统推向其所需的经济性能。优化问题中包含一组松弛变量，以便在任何时间步长提供可行的解决方案。具有不稳定行为的反应器用于评估所提出的控制器的有效性，并证明其递归可行性和闭环系统向所需经济性能的收敛。评估了两个案例研究：第一个研究了拟议战略的名义特征，