Direct data-driven control of constrained linear parameter-varying systems: A hierarchical approach

In many nonlinear control problems, the plant can be accurately described by a linear model whose operating point depends on some measurable variables, called scheduling signals. When such a linear parameter-varying (LPV) model of the open-loop plant needs to be derived from a set of data, several issues arise in terms of parameterization, estimation, and validation of the model before designing the controller. Moreover, the way modeling errors affect the closed-loop performance is still largely unknown in the LPV context. In this paper, a direct data-driven control method is proposed to design LPV controllers directly from data without deriving a model of the plant. The main idea of the approach is to use a hierarchical control architecture, where the inner controller is designed to match a simple and a-priori specified closed-loop behavior. Then, an outer model predictive controller is synthesized to handle input/output constraints and to enhance the performance of the inner loop. The effectiveness of the approach is illustrated by means of a simulation and an experimental example. Practical implementation issues are also discussed.Comment: Preliminary version of the paper "Direct data-driven control of constrained systems" published in the IEEE Transactions on Control Systems Technolog

A multiparametric quadratic programming algorithm with polyhedral computations based on nonnegative least squares

Model Predictive Control (MPC) is one of the most successful techniques adopted in industry to control multivariable systems under constraints on input and output variables. To circumvent the main drawback of MPC, i.e., the need to solve a Quadratic Program (QP) on line to compute the control action, explicit MPC was proposed in the past to precompute the control law off line using multiparametric QP (mpQP). The resulting form of the MPC law is piecewise affine, which is extremely easy to code, can be computed online by simple arithmetic operations, and requires a maximum number of iterations that can be exactly determined a priori. On the other hand, the offline computations to solve the mpQP problem require detecting emptiness, full-dimensionality, and minimal hyperplane representations of polyhedra, and other computational geometric operations. While most of the existing methods solve such operations via linear programming, the approach proposed in this paper relies on a nonnegative least squares (NNLS) solver that is very simple to code, fast to execute, and provides solutions up to machine precision. In addition, the new approach exploits QP duality to identify and construct critical regions and to handle degeneracy issues

Model Predictive Control (MPC) for Enhancing Building and HVAC System Energy Efficiency: Problem Formulation, Applications and Opportunities

In the last few years, the application of Model Predictive Control (MPC) for energy management in buildings has received significant attention from the research community. MPC is becoming more and more viable because of the increase in computational power of building automation systems and the availability of a significant amount of monitored building data. MPC has found successful implementation in building thermal regulation, fully exploiting the potential of building thermal mass. Moreover, MPC has been positively applied to active energy storage systems, as well as to the optimal management of on-site renewable energy sources. MPC also opens up several opportunities for enhancing energy efficiency in the operation of Heating Ventilation and Air Conditioning (HVAC) systems because of its ability to consider constraints, prediction of disturbances and multiple conflicting objectives, such as indoor thermal comfort and building energy demand. Despite the application of MPC algorithms in building control has been thoroughly investigated in various works, a unified framework that fully describes and formulates the implementation is still lacking. Firstly, this work introduces a common dictionary and taxonomy that gives a common ground to all the engineering disciplines involved in building design and control. Secondly the main scope of this paper is to define the MPC formulation framework and critically discuss the outcomes of different existing MPC algorithms for building and HVAC system management. The potential benefits of the application of MPC in improving energy efficiency in buildings were highlighted

Innovative solar energy technologies and control algorithms for enhancing demand-side management in buildings

The present thesis investigates innovative energy technologies and control algorithms for enhancing demand-side management in buildings. The work focuses on an innovative low-temperature solar thermal system for supplying space heating demand of buildings. This technology is used as a case study to explore possible solutions to fulfil the mismatch between energy production and its exploitation in building. This shortcoming represents the primary issue of renewable energy sources. Technologies enhancing the energy storage capacity and active demand-side management or demand-response strategies must be implemented in buildings. For these purposes, it is possible to employ hardware or software solutions. The hardware solutions for thermal demand response of buildings are those technologies that allow the energy loads to be permanently shifted or mitigated. The software solutions for demand response are those that integrate an intelligent supervisory layer in the building automation (or management) systems. The present thesis approaches the problem from both the hardware technologies side and the software solutions side. This approach enables the mutual relationships and interactions between the strategies to be appropriately measured. The thesis can be roughly divided in two parts. The first part of the thesis focuses on an innovative solar thermal system exploiting a novel heat transfer fluid and storage media based on micro-encapsulated Phase Change Material slurry. This material leads the system to enhance latent heat exchange processes and increasing the overall performance. The features of Phase Change Material slurry are investigated experimentally and theoretically. A full-scale prototype of this innovative solar system enhancing latent heat exchange is conceived, designed and realised. An experimental campaign on the prototype is used to calibrate and validate a numerical model of the solar thermal system. This model is developed in this thesis to define the thermo-energetic behaviour of the technology. It consists of two mathematical sub-models able to describe the power/energy balances of the flat-plate solar thermal collector and the thermal energy storage unit respectively. In closed-loop configuration, all the Key Performance Indicators used to assess the reliability of the model indicate an excellent comparison between the system monitored outputs and simulation results. Simulation are performed both varying parametrically the boundary condition and investigating the long-term system performance in different climatic locations. Compared to a traditional water-based system used as a reference baseline, the simulation results show that the innovative system could improve the production of useful heat up to 7 % throughout the year and 19 % during the heating season. Once the hardware technology has been defined, the implementation of an innovative control method is necessary to enhance the operational efficiency of the system. This is the primary focus of the second part of the thesis. A specific solution is considered particularly promising for this purpose: the adoption of Model Predictive Control (MPC) formulations for improving the system thermal and energy management. Firstly, this thesis provides a robust and complete framework of the steps required to define an MPC problem for building processes regulation correctly. This goal is reached employing an extended review of the scientific literature and practical application concerning MPC application for building management. Secondly, an MPC algorithm is formulated to regulate the full-scale solar thermal prototype. A testbed virtual environment is developed to perform closed-loop simulations. The existing rule-based control logic is employed as the reference baseline. Compared to the baseline, the MPC algorithm produces energy savings up to 19.2 % with lower unmet energy demand