Distributed model predictive control

We explore a distributed model predictive control (DMPC) scheme. The controllers apply model predictive control (MPC) policies to their local subsystems. They exchange their predictions by communication and incorporate the information from other controllers into their local MPC problem so as to coordinate with each other. For the full local state feedback and one-step delayed prediction exchange case, stability is ensured for controllable systems satisfying a matching condition by imposing stability constraints on the next state in the prediction. An example of multi-area load-frequency control is used as an example application for this DMPC scheme to show the performance of the scheme.