Economic Model Predictive Controller Design with a New Cost Function for Linear Systems

In this study, by combining model predictive control with economic model predictive control, a new variable cost function with tracking error is presented to have optimal and efficient tracking performance for first-order linear systems. Weigh matrices, which are often considered constant, in this paper are considered variable with tracking error. The criterion for comparing the proposed controller with other conventional predictive controllers is the steady-state error with the least energy consumption. The stability of the closed loop system under new controller is proved and the effectiveness of the proposed method is verified with some simulation examples.