This paper presents a two-layer control structure to address parameter uncertainty within a plant. The lower layer is formulated as a nominal MPC that computes control actions to regulate the underlying plant, and the upper layer computes optimal set-point trajectories for the lower level to track. The upper layer is formulated as an optimization problem that takes into account the closed-loop behavior of uncertain plant scenarios under the action of nominal MPC. The upper layer facilitates the lower layer in avoiding constraint violations and producing less conservative control actions by assigning time-varying set-point trajectories to the nominal MPC. The benefits of this approach are illustrated through application to linear single-input–single-output transfer function case studies, and a nonlinear multi-input multi-output evaporator process.

本文提出了一种两层控制结构来解决工厂内的参数不确定性。下层公式化为标称MPC，该MPC计算控制动作以调节基础工厂，而上层则计算最佳设定点轨迹，以供较低层跟踪。上层公式化为一个优化问题，它考虑了在标称MPC的作用下不确定工厂情景的闭环行为。上层通过将随时间变化的设定点轨迹分配给标称MPC来帮助下层避免违反约束并产生较少的保守控制动作。通过将这种方法应用于线性单输入-单输出传递函数案例研究以及非线性多输入多输出蒸发器过程，可以说明这种方法的优势。