Economic Model Predictive Control with Zone Tracking

In this work, we propose a framework for economic model predictive control (EMPC) with zone tracking. A zone tracking stage cost is incorporated into the existing EMPC framework to form a multi-objective optimization problem. We provide sufficient conditions for asymptotic stability of the optimal steady state and characterize the exact penalty for the zone tracking cost which prioritizes zone tracking objective over economic objective. Moreover, an algorithm to modify the target zone based on the economic performance and reachability of the optimal steady state is proposed. The modified target zone effectively decouples the dynamic zone tracking and economic objectives and simplifies parameter tuning.