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In this work, we design a terminal cost for economic model predictive control (EMPC) which preserves local optimality. We first show, based on the strong duality and second order sufficient condition (SOSC) of the steady-state optimization problem, that the optimal operation of the system is locally equivalent to an infinite-horizon LQR controller. The proposed terminal cost is constructed as the...
In this work, we consider economic model predictive control (EMPC) for scheduled switching operations. The proposed EMPC scheme takes advantage of a set of auxiliary controllers that locally stabilizes the optimal steady state of each operating mode. In the proposed approach, EMPC operations are divided into two phases — an infinite-time operation phase and a mode transition phase, depending on the...
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