Cooperative distributed model predictive control for linear plants subject to convex economic objectives

In this paper we propose a cooperative distributed economic model predictive control strategy for linear systems which consist of finite number of subsystems. The suggested control strategy is generating control feedback which converges to the centralized optimal solution and drives the subsystems to the Pareto optimum provided infinite iterations are allowed at each sampling time. Moreover, the control for each subsystem is computed in itself without coordination layer except for a synchronization requirement between subsystems. We first introduce distributed linear systems with 2 subsystems and economic model predictive control, then show the convergence and stability properties of a suboptimal model predictive control strategy for the system.