Accounting for the control actuator layer in economic model predictive control of nonlinear processes

In the present work, an economic model predictive control (EMPC) system is designed that accounts for the dynamics of the control actuators. A combined process-actuator dynamic model is developed to describe the process and control actuator dynamics and is used within the EMPC system. Stability constraints, designed via Lyapunov-based techniques, are imposed on the EMPC problem to guarantee closed-loop stability of the process system under the EMPC. An EMPC system accounting for the control actuator dynamics is applied to a benchmark chemical process example to study the impact of the actuator dynamics on closed-loop economic performance and reactant material constraint satisfaction.