Cooperative distributed MPC for tracking

The problem of controlling large scale systems, usually divided into subsystems controlled by different agents, is usually solved using cooperative distributed control schemes, where the agents share open-loop information in order to improve closed-loop performance, (Rawlings and Mayne 2009, Chapter 6). In this paper we proposed a cooperative distributed linear model predictive control strategy applicable to any finite number of subsystems, which is able to steer the system to any admissible set point in an admissible way. Feasibility is ensured under any changing of the target steady state. The proposed controller is applied to a four tanks system.