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 (m^2)
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 (m^3/s)
Minimum pump capacity		0 (m^3/s)
Maximum water level		1 (m)
Minimum water level		0 (m)