Economic MPC for a changing economic criterion

In the process industries it is often desirable that model predictive controllers (MPC) use a stage cost function that incorporates some types of economic criteria. In [1] it is proved that this kind of controller provides better economic performance than the standard setpoint-tracking MPC formulations. In [2] a Lyapunov function is provided for the economic MPC formulation. In [3], [4] an MPC for setpoint tracking is presented that ensures feasibility for a changing setpoint, enlarging the domain of attraction of the controller. In this paper, a new MPC controller is proposed, which is a hybrid of these two previous controllers, and inherits their best properties. Three examples are presented that demonstrate the advantages of the new formulation.