Hierarchical economic MPC for systems with storage states

This paper proposes an EMPC control algorithm that is suitable for this particular two-layer problem. The proposed control algorithm ensures that feasibility is always maintained, even in the presence of a changing cost function. Existing EMPC theory is extended in order to prove stability of a set of economically optimal steady states, in a finite time setting. The proposed controller is then used in a simulation of a network connected, hybrid solar photovoltaic (PV) / battery system, and demonstrated to provide superior performance to standard EMPC.