This paper presents a robust economic model predictive control (EMPC) formulation with zone tracking for discrete-time uncertain nonlinear systems. The proposed design ensures that the zone tracking objective is achieved in finite steps and at the same time optimizes the economic performance. In the proposed design, instead of tracking the original target zone, a robust control invariant set within the target zone is determined and is used as the actual zone tracked in the proposed EMPC. This approach ensures that the zone tracking objective is achieved within finite steps and once the zone tracking objective is achieved (the system state enters the robust control invariant set), the system state does not come out of the target zone anymore. To optimize the economic performance within the zone in the presence of disturbances, we introduce the notion of risk factor in the controller design. An algorithm to determine the economic zone to be tracked is provided. The risk factor determines the conservativeness of the controller and provides a way to tune the EMPC for better economic performance. A nonlinear chemical example is presented to demonstrate the performance of the proposed formulation.

中文翻译：

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带区域跟踪的鲁棒经济模型预测控制

本文提出了一种用于离散时间不确定非线性系统的具有区域跟踪的稳健经济模型预测控制 (EMPC) 公式。所提出的设计确保在有限的步骤中实现区域跟踪目标，同时优化经济性能。在提议的设计中，不是跟踪原始目标区域，而是确定目标区域内的鲁棒控制不变量集，并将其用作提议的 EMPC 中跟踪的实际区域。这种方法确保在有限的步骤内实现区域跟踪目标，并且一旦实现区域跟踪目标（系统状态进入鲁棒控制不变量集），系统状态就不再脱离目标区域。为了在存在干扰的情况下优化区内的经济表现，我们在控制器设计中引入了风险因素的概念。提供了一种确定要跟踪的经济区的算法。风险因素决定了控制器的保守性，并提供了一种调整 EMPC 以获得更好经济性能的方法。提出了一个非线性化学例子来证明所提出的公式的性能。