Oracle-based economic predictive control

This paper presents an economic model predictive controller, under the assumption that the only measurable signal of the plant is the economic cost to be minimized. In order to forecast the evolution of this economic cost for a given input trajectory, a prediction model with a NARX structure, the so-called oracle, is proposed. Sufficient conditions to ensure the existence of such oracle are studied, proving that it can be derived for a general nonlinear system if the economic cost function is a ...