Single-layer economic model predictive control for periodic operation

•We focus on optimal (non-steady) periodic operation of process systems based on an economic criteria.•We propose an economic model predictive controller based on a single layer that unites dynamic real time optimization and control.•Guaranteed convergence to the optimal periodic trajectory that minimizes the average economic operation cost.•A priori calculation of the optimal trajectory is not required.•Robustness to sudden changes in the economic criteria. In this paper we consider periodic optimal operation of constrained periodic linear systems. We propose an economic model predictive controller based on a single layer that unites dynamic real time optimization and control. The proposed controller guarantees closed-loop convergence to the optimal periodic trajectory that minimizes the average operation cost for a given economic criterion. A priori calculation of the optimal trajectory is not required and if the economic cost function is changed, recursive feasibility and convergence to the new periodic optimal trajectory is guaranteed. The results are demonstrated with two simulation examples, a four tank system, and a simplified model of a section of Barcelona's water distribution network.