Distributed MPC for tracking. Application to a 4 tanks plant

The problem of controlling large scale systems, usually divided into subsystems controlled by different agents, is solved using cooperative distributed control schemes, where the agents share open-loop information in order to improve closed-loop performance. In a recent paper, a cooperative distributed linear model predictive control strategy applicable to any finite number of subsystems, has been presented. This controller is able to steer the system to any admissible setpoint in an admissible way. Feasibility is ensured under any changing of the target steady state. In this paper, this controller is applied to the plant proposed for the HD-MPC Benchmark: the four tanks plant situated in the lab of the University of Seville.