Time-Varying Scheme for Noncentralized Model Predictive Control of Large-Scale Systems

Figure 6

Evolution of the water levels of all the tanks and the control structure when the initial state is 0.25 m for all the tanks. The -axis corresponds to the simulation step. The reference is 0.5 m. Cen is the centralized MPC solution; CS is the proposed NC-MPC method. Red represents reference.