The following important question is frequently overlooked: Which variables should we control? The answer is related to finding a simple and robust way of implementing the optimal operating strategy. It is argued that the controlled variables should be those that that give “self-optimizing control”, which is when acceptable operation is achieved with constant setpoints for the controlled variabl...

This paper presents a novel method for designing robust MPC schemes that are self-optimizing in terms of disturbance attenuation. The method employs convex control Lyapunov functions and disturbance bounds to optimize robustness of the closed-loop system on-line, at each sampling instant a unique feature in MPC. Moreover, the proposed MPC algorithm is computationally efficient for nonlinear sys...

Self-optimizing systems are technical systems with the ability to learn, communicate with each other, and optimize their behaviour autonomously in response to environmental changes. The operation of such systems requires close interaction between mechanics, electronics, control engineering and software engineering. This paper addresses the conceptual design of controllers based on the principle...

−−This paper describes a procedure to find the best controlled variables in an economic sense for the activated sludge process in a wastewater treatment plant, despite the large load disturbances. A novel dynamic analysis of the closed loop control of these variables has been performed, considering a nonlinear model predictive controller (NMPC) and a particular distributed NMPC-PI control struc...

Self-Optimizing Control and Passive Velocity Field Control of Intelligent Machines

This is the second part of a two-part paper on the design of an intelligent controller for a class of exercise machines. The control objective is to cause the user to exercise in a manner that optimizes a criterion related to the user’s mechanical power. The optimal exercise strategy is determined by an a priori unknown biomechanical behavior, called the Hill surface, of the individual user. Co...