Distributed model predictive control (MPC) is either cooperative or competitive, and control-theoretic properties have been less studied in the competitive (e.g., game theory) setting. This paper studies MPC with linear dynamics and a Stackelberg game structure: Given a fixed lower-level linear MPC (LoMPC) controller, the bilevel linear MPC (BiMPC) controller chooses inputs to steer LoMPC knowing that LoMPC is optimizing with respect to a different cost function. After defining LoMPC and BiMPC, we give examples to demonstrate how interconnections in a dynamic Stackelberg game can lead to loss/gain (as compared to the same system being centrally controlled) of controllability or stability. Then, we give sufficient conditions under an arbitrary finite MPC horizon for stabilizability of BiMPC, and develop an approach to synthesize a stabilizing BiMPC controller. Next, we define two (a duality-based technique and an integer-programming-based technique) reformulations to numerically solve the optimization problem associated with BiMPC, prove equivalence of these reformulations to BiMPC, and demonstrate their useful by simulations of a synthetic system and a case study of an electric utility changing electricity prices to perform demand response of a home's air conditioner controlled by a linear MPC.
Synthesis of model predictive control based on data-driven learning
ENN Science & Technology Development Co.,Ltd（新奥科技发展有限公司）；Department of Automation, Shanghai Jiao Tong University（上海交通大学自动化系）；Key Laboratory of System Control and Information Processing, Ministry of Education of China（教育部系统控制与信息处理重点实验室）
Distributionally Robust Control with End-to-End Statistically Guaranteed Metric Learning
School of Automation and Intelligent Sensing, Shanghai Jiao Tong University, PR China（自动化与智能感知学院，上海交通大学，中国）；Department of Mechanical Engineering, University of Victoria, Victoria, Canada（机械工程系，维多利亚大学，加拿大）
A Systematic Review and Taxonomy of Reinforcement Learning-Model Predictive Control Integration for Linear Systems
Department of Electronics, Information and Bioengineering (DEIB), Politecnico di Milano（电子信息生物工程系（DEIB），米兰理工大学）；Department of Applied Mathematics, Ferdowsi University of Mashhad（应用数学系，法尔德大学）；Department of Mechanical Engineering, Politecnico di Milano（机械工程系，米兰理工大学）；Department of Applied Mathematics, Faculty of Mathematical Sciences, University of Guilan（应用数学系，加林大学）；Department of Robotics and Control Engineering, Shahrood University of Technology（机器人与控制工程系，沙霍德技术大学）
