Event-triggered economic MPC with relaxed contractive constraints

Publication Name

Journal of Process Control


This paper proposes a novel event-triggered economic model predictive control (EMPC) scheme of constrained nonlinear systems. Some auxiliary positive-definite functions at economic optimal equilibrium points are defined for economic performance functions that are generally non-convex and non-positive-definite. The optimal value function of the auxiliary function is used to design an adjustable stability constraint which is imposed on the original EMPC optimization problem. The design of the contractive constraint can avoid Zeno behaviors during the triggered process. Especially, the event-triggered condition is designed by relaxed contractive constraint and the updated control laws. Sufficient conditions guaranteeing the recursive feasibility and stability of the EMPC are derived. Finally, the effectiveness of the obtained results is illustrated by a simulation example of a continuously stirred tank reactor.

Open Access Status

This publication is not available as open access



Article Number


Funding Number


Funding Sponsor

National Natural Science Foundation of China



Link to publisher version (DOI)