Research Article
Time-Varying Scheme for Noncentralized Model Predictive Control of Large-Scale Systems
Table 2
Model and controller parameters.
| Parameter | Symbol | Value |
| System | | | Storage area, | | 3.14 (m2) | Simulation time step length | | 0.15 (s) |
| Controller | | | Control time step length | | 0.3 (s) | Topology switching time step length | | 1.5 (s) | Prediction horizon | | 5 (s) | Quadratic penalty weight on , | | 1 | Quadratic penalty weight on , | | 1 | Reference tank , | | 0.5 | Cost topologies 1, 3 | | 30 | Cost topologies 2, 4 | | 10 | Cost topologies 5, 6 | | 35 | Cost topology 7 | | 0 |
| Maximum pump capacity | | 0.5 (m3/s) | Minimum pump capacity | | 0 (m3/s) | Maximum water level | | 1 (m) | Minimum water level | | 0 (m) |
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