A Synthesis Method for Adaptive Terminal Constraints in Distributed Economic MPC with Periodic Disturbances

This paper proposes a novel synthesis procedure to find adaptive terminal constraints for distributed economic model predictive control (DEMPC) for a class of linear systems subject to periodic disturbances. Ellipsoidal sets centered at optimal periodic state solutions, with time-varying radii, are used to construct the terminal constraints. A set of linear matrix inequality conditions are provided to update the radius of the terminal set at each time step to guarantee recursive feasibility. Finally, the effectiveness of the proposed method is demonstrated through simulation of a water distribution network.