Table of Contents

Chapter 1 Introduction 1
1.1 Networked Control System 1
1.2 Model Predictive Control 5
1.3 Distributed Model Predictive Control 8
1.4 Event Triggered Control 13
1.5 Outline of This Book 16
References 18

Chapter 2 DMPC of Networked Systems with Event-Triggered Computation 27
2.1 Introduction 27
2.2 DMPC with a Cooperative Event-Triggered Computation Mechanism 29
2.2.1 Optimization Problem Formulation 29
2.2.2 Cooperative Event-Triggering Condition 33
2.2.3 Cooperative Event-Triggered DMPC Algorithm 36
2.2.4 Feasibility and Stability Analysis of the Overall Closed-Loop System 37
2.2.5 Example 41
2.3 DMPC with a Decentralized Event-Triggered Computation Mechanism 44
2.3.1 Optimization Problem Formulation 44
2.3.2 Decentralized Event-Triggering Condition 47
2.3.3 Event-Triggered Dual-Mode DMPC Algorithm 50
2.3.4 Feasibility and Stability Analysis of the Overall Closed-Loop System 50
2.3.5 Example 52
2.4 Discussion 55
References 56

Chapter 3 DMPC of Networked Systems with Event-Triggered Communication 57
3.1 Introduction 57
3.2 Optimization Problem Formulation 58
3.3 DMPC with Event-Triggered Communication 60
3.3.1 Event-Triggered Condition 60
3.3.2 DMPC Algorithm with Event-Triggered Communication 67
3.4 Feasibility and Stability Analysis 68
3.5 Example 70
3.6 Conclusion 75
References 75

Chapter 4 Dynamic Event-Triggered DMPC of Networked Systems 77
4.1 Introduction 77
4.2 Optimization Problem Formulation 79
4.3 Event-Triggering Condition 80
4.4 Dynamic Event-Triggering Condition 84
4.5 Dynamic Event-Triggered DMPC Algorithm 86
4.6 Performance Analysis 87
4.7 Example 90
4.8 Conclusion 93
References 93

Chapter 5 Mixed Time/Event-Triggered DMPC of Networked Systems 95
5.1 Introduction 95
5.2 Problem Formulation 96
5.2.1 Event-Triggered DMPC Optimization Problem 98
5.2.2 Time-Triggered DMPC Optimization Problem 99
5.3 Mixed Time/Event-Triggered Dual-Mode DMPC 101
5.3.1 Event-Triggering Condition 101
5.3.2 Mixed Time/Event-Triggered Dual-Mode DMPC Algorithm 105
5.4 Feasibility and Stability Analysis 107
5.5 Example 113
5.6 Conclusion 118
References 118

Chapter 6 Self-Triggered DMPC of Networked Systems 121
6.1 Introduction 121
6.2 Problem Formulation 123
6.3 Co-Design of Self-Triggered Mechanism and DMPC Strategy 124
6.3.1 Self-Triggered DMPC Optimization Control Problem 124
6.3.2 Explicit Solution of the Self-Triggered MPC 127
6.3.3 Self-Triggered DMPC Algorithm 130
6.4 Stability Analysis 131
6.5 Example 133
6.6 Conclusion 140
References 141

Chapter 7 Event-Triggered Distributed Model Predictive Control for Interconnected Networked Systems 143
7.1 Introduction 143
7.2 Optimization Problem Formulation 145
7.3 Event-Triggering Conditions for NCSs with Dynamic Coupling 151
7.4 Event-Triggered DMPC Algorithm for Interconnected NCSs 156
7.5 Feasibility and Stability Analysis 158
7.6 Example 165
7.7 Conclusion 173
References 173