Abstract
In this chapter, several computationally-efficient two-layer frameworks for integrating dynamic economic optimization and control of nonlinear systems are presented. In the upper layer, economic model predictive control (EMPC) is employed to compute economically optimal time-varying operating trajectories. Explicit control-oriented constraints are employed in the upper layer EMPC. In the lower layer, a model predictive control scheme is used to force the system to track the optimal time-varying trajectory computed by the upper layer EMPC. The properties, i.e., stability, performance, and robustness, of closed-loop systems under the two-layer EMPC methods are rigorously analyzed. The two-layer EMPC methods are applied to chemical process examples to demonstrate the closed-loop properties.
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