A Periodic Tracking MPC that is Locally Equivalent to Periodic Economic MPC
Paper in proceeding, 2017

Stability for economic Model Predictive Control (MPC) is in general difficult to establish. In contrast, tracking MPC has well-established stability guarantees, but can yield poor closed-loop performance in terms of the selected economic criterion. In Zanon et al. (2016), a formal procedure to design a tracking MPC scheme so as to locally approximate the behaviour of economic MPC was proposed for the case of optimal steady-state operation. In this paper, we extend that result to the periodic case and provide a procedure to compute the tracking stage cost numerically. We illustrate our developments in a simulated example.


Mario Zanon

Chalmers, Signals and Systems, Systems and control

Sébastien Gros

Chalmers, Signals and Systems, Systems and control

Moritz Diehl

University of Freiburg


24058963 (eISSN)

Vol. 50 1 10711-10716

20th IFAC World Congress
Toulouse, France,

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Information and Communication Technology

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7/4/2021 1