Lyapunov-based dual-mode method for economic optimization model predictive control

This paper presents a new economic optimization model predictive control (MPC) for constrained continuous-time nonlinear systems. In order to relax the terminal state constraint, a particular dual-mode method is used to design the economic MPC, where the local (terminal) controller is resulted from control Lyapunov functions (CLFs) and is nonlinear, with some free-parameters. These free-parameters are computed online when the states are in the terminal region. Iterative feasibility and asymptotical stability of the closed-loop system are achieved, which further yields an asymptotical average performance being better than the optimal steady-state performance. Finally, an example of the isothermal CSTR is exploited to illustrate the effectiveness of the proposed method.