Process Identification and Control - Module 2

Process Control and Identification, Academic year 2021-2022

Module 2 (Francesco Liberati, 3 CFU)



Exam dates and modality

Written exam with exercises and questions. There is ONE exam, with exercises and questions on the three parts.

For Module 2, there will be one question on theory, plus one excercise in which the student will be asked to write the MPC mathematical formulation for a given problem.


THE EXAM MUST BE BOOKED ON INFOSTUD UP TO 3 DAYS BEFORE THE EXAM

Official schedule: https://docs.google.com/spreadsheets/d/1zHrIpbqJ5vVQ6zrjIZe8aZjzbjr4caLfuW8q6LVdJ2o/edit#gid=0


To join the lessons of Module 2 (for Module 3)

Lessons are in attendance until the COVID capacity of the classroom is reached. The offical schedule is here

https://www.ingegneriagestionale.uniroma1.it/drupal/laureamagistrale/ora.... See first year, sheet BIA.

All the information on the Zoom links is available here: https://www.ing.uniroma1.it/orario-delle-lezioni-e-aule


Office hours

Every Thursdays, from 11:30 to 13:00. Please send me an email to book an appointment.

How to access office hours:

  • To join the video meeting, click this link: meet.google.com/zob-fhvk-bsz

  • Otherwise, to join by phone, dial +1 720-439-7112 and enter this PIN: 349 394 058#

  • Alternatively, we can book a meeting in presence.


PROGRAM 2021-2022 - Module 2


Program

  • Introduction to Model Predictive Control (MPC). Hystorical notes. Pros and cons;

  • Formulation of an MPC problem: objective function, constraints, role and selection criteria for the stage cost, for the terminal cost, for the terminal constraints;

  • Economic MPC. Differences wrt classic MPC and associated challenges;

  • MPC problems with mixed-integer variables and dynamical-locigal constraints. Examples.

  • Examples of applications in various sectors: industrial control, power systems, transportation, etc.

  • Implementation in Julia technical language (https://julialang.org/).


REFERENCES (WILL BE UPDATED DURING THE COURSE)

The following ones are some excellent references on MPC.

  • [Cannon_2016]. Kouvaritakis, Basil, and Mark Cannon. "Model predictive control." Switzerland: Springer International Publishing (2016): 38.

https://www.springer.com/gp/book/9783319248516

  • [Bemporad_1999]. Bemporad , Alberto, and Manfred Morari . "Control of systems integrating logic, dynamics, and constraints." Automatica 35, no. 3 (1999): 407 427.

https://www.sciencedirect.com/science/article/abs/pii/S0005109898001782

http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.35.2690&rep=rep1&type=pdf

  • [Mayne_2000]. Mayne, David Q., James B. Rawlings, Christopher V. Rao, and Pierre OM Scokaert. "Constrained model predictive control: Stability and optimality." Automatica 36, no. 6 (2000): 789-814.

https://www.sciencedirect.com/science/article/pii/S0005109899002149

http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.231.3109&rep=rep1&type=pdf


See lecture notes at this link.

•I suggest checking in particular lessons L10 and L11.

•Read the IP reference guide (PDF).


  • [Hax_1977]. Bradley, Stephen P., Arnoldo C. Hax, and Thomas L. Magnanti. Applied mathematical programming. Addison-Wesley, 1977.

http://web.mit.edu/15.053/www/AMP.htm

•Consult Chapter 9.


  • Another interesting presentation on logical constraints and integer programming is at this link.


Reference for the application of MPC to traffic management.

  • [Liberati_2020]. Liberati, Francesco. "Model predictive control of a road junction." Smart Cities 3.3 (2020): 806-817.

https://www.mdpi.com/2624-6511/3/3/41


Reference for the application of MPC to assembly line control.

  • [Liberati_2021]. Liberati, Francesco. "Task Execution Control in an Assembly Line via Shrinking Horizon Model Predictive Control”. Password –protected file in the shared Google drive folder. The password has been sent via message on Google Class. Ask in case. Note: this file is confidential, for personal study only, it cannot be shared in any way.


Additional references on MPC for building energy management. These are not mandatory, but I suggest to have at least a quick read. Skip the parts we did not do at lesson. See the simulation sections to see how the MPC controller manages the loads, the generation and the storage of energy in the building:

  • [2014_Di Giorgio] Di Giorgio, Alessandro, and Francesco Liberati. "Near real time load shifting control for residential electricity prosumers under designed and market indexed pricing models." Applied Energy 128 (2014): 119-132.

https://www.sciencedirect.com/science/article/abs/pii/S0306261914003857

  • [2019_Liberati] Liberati, Francesco, et al. "Joint model predictive control of electric and heating resources in a smart building." IEEE Transactions on Industry Applications 55.6 (2019): 7015-7027.

https://ieeexplore.ieee.org/abstract/document/8786121/

  • [2018_Liberati] Liberati, Francesco, and Alessandro Di Giorgio. "Economic model predictive and feedback control of a smart grid prosumer node." Energies 11.1 (2018): 48.

https://www.mdpi.com/1996-1073/11/1/48




LECTURE SLIDES

Link to Google Drive folder containing the slides (you can open it only using the Sapienza Gmail Account)

It contains presentations and notes from the lectures.


DIARY OF THE LESSONS AND SUGGESTED READINGS (WILL BE UPDATED DURING THE COURSE)

  1. 25/10/2021. Introduction to the MPC concept.

  2. 27/10/2021. Classical LQR and MPC. Read [Cannon_2016] Chapter 1 and Chapter 2, up to Section 2.3 (included). Proofs are not mandatory.

  3. 03/11/2021. Formulation of classical LQR MPC (see slides and [Cannon_2016] Chapter 1 and Chapter 2, up to Section 2.3 (included). Proofs are not mandatory).

  4. 08/11/2021. Performance of MPC (see slides). Started example on fast PEV charging control (see notes on the shared folder "notes_lesson_08-11-2021").

  5. 10/11/2021. Example on fast PEV charging control. Julia implementation of the infinite-horizon control problem (see presentation and the Julia code in the shared folder).

  6. 15/11/2021. Hybrid MPC. Extension of the example on fast PEV charging control to an hybrid system, to take into account the ESS losses. See presentations and notes from the lesson;

  7. 17/11/2021. Hybrid MPC. Examples. Linearization of switched dynamics, "and/or" conditions, and other ones. Read [Bemporad_1999] up to Definition 1 (excluded).

  8. 18/11/2021. Recursive feasibility of MPC.

  9. 22/11/2021. Stability of MPC. Read [Mayne_2000] Sections 1, 2.1, 3.1, 3.2, 3.3

  10. 24/11/2021. Stability of MPC. Read [Mayne_2000] Sections 1, 2.1, 3.1, 3.2, 3.3

  11. 26/11/2021. Example. MPC applied to traffic lights management. See notes in the shared folder and the paper at this link: https://www.mdpi.com/2624-6511/3/3/41

  12. 29/11/2021. Example on MPC application to task scheduling in an assembly line. See the confidencial paper [Liberati_2021]. See the suggested references [MIT_2003] and [Hax_1977] (read the sections suggested above), and the presentation on logical constraints and integer programming is at this link.

  13. 01/12/2021. Continuation of the example on MPC application to task scheduling in an assembly line. See the confidencial paper [Liberati_2021]. See the suggested references [MIT_2003] and [Hax_1977] (read the sections suggested above), and the presentation on logical constraints and integer programming is at this link.

  14. 02/12/2021. Example on MPC application to building energy management systems. See lesson's notes.

  15. 15/12/2021. Continuation of the example on MPC application to building energy management systems. See lesson's notes.

  16. 16/12/2021. Continuation of the example on MPC application to building energy management systems. See lesson's notes.

  17. 20/12/2021. Continuation of the example on MPC application to building energy management systems. See lesson's notes and three papers suggested for reading in the references.


PAST EXAMS (exam with solution - Module 3 only)

  • 11 January 2022. Link.

  • 8 February 2022. Link.

  • 25 March 2022. Link.

  • 1 June 2022. Link.

  • 1 July 2022. Link.

  • 9 September 2022. Link.