Fast coordinated model predictive control of large-scale distributed systems with single coupling constraint

In this paper we describe an efficient implementation of a discrete-time model predictive controller for coordinated control of large-scale distributed systems. The approach is based on parametrization and splitting of the underlying optimization problem into local optimization problems coupled via one coordination problem. The local problems are solved off-line using the multi-parametric optimization approach. The coordination problem is solved on-line at every time step, on a centralized control hardware. Due to the properties of local parametric solutions the coordination problem has a specific structure that can be utilized to solve the on-line problem very efficiently. In case when there is only one linear coupling constraint between subsystems, the on-line computation time can be drastically decreased. The efficiency of proposed controller implementation is depicted on a design of the optimal wind farm controller applicable for implementation on very large wind farms.