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

Figure 3

Complexity of the optimization problem solved by the supervisory controller.

(a) Diagram to show the complexity of the problem, NC-MPC controllers to be evaluated

(b) Reduction method to simplify the problem. Thick dashed lines represent the selected solutions. In this case, NC-MPC controllers are evaluated at time step

(c) Pruning to evaluate only the most relevant structures. Thick dashed lines represent the selected solutions. In this case, NC-MPC controllers are evaluated at time step