Abstract
A two-layer approach for the auto-tuning of model predictive control (MPC) is proposed. The bottom layer computes the weighting matrices of the cost function from a desired closed-loop bandwidth while the top layer aims at finding the optimal bandwidth. This optimum corresponds to the optimal balance between the robustness and nominal performance of the closed-loop system. To find the optimal bandwidth, the extremum seeking (ES) algorithm, a form of non-model-based adaptive optimisation, is proposed. The auto-tuning approach is tested on a binary distillation column model. It is shown that the auto-tuning approach enables the MPC system to track its optimal closed-loop bandwidth and therefore obtain the minimum output variance.
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