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Chapter 1 Introduction 1 1.1 Networked Control System 1 1.2 Model Predictive Control 5 1.3 Distributed Model Predictive Control 8 1.4 Event Triggered Control 13 1.5 Outline of This Book 16 References 18 Chapter 2 DMPC of Networked Systems with Event-Triggered Computation 27 2.1 Introduction 27 2.2 DMPC with a Cooperative Event-Triggered Computation Mechanism 29 2.2.1 Optimization Problem Formulation 29 2.2.2 Cooperative Event-Triggering Condition 33 2.2.3 Cooperative Event-Triggered DMPC Algorithm 36 2.2.4 Feasibility and Stability Analysis of the Overall Closed-Loop System 37 2.2.5 Example 41 2.3 DMPC with a Decentralized Event-Triggered Computation Mechanism 44 2.3.1 Optimization Problem Formulation 44 2.3.2 Decentralized Event-Triggering Condition 47 2.3.3 Event-Triggered Dual-Mode DMPC Algorithm 50 2.3.4 Feasibility and Stability Analysis of the Overall Closed-Loop System 50 2.3.5 Example 52 2.4 Discussion 55 References 56 Chapter 3 DMPC of Networked Systems with Event-Triggered Communication 57 3.1 Introduction 57 3.2 Optimization Problem Formulation 58 3.3 DMPC with Event-Triggered Communication 60 3.3.1 Event-Triggered Condition 60 3.3.2 DMPC Algorithm with Event-Triggered Communication 67 3.4 Feasibility and Stability Analysis 68 3.5 Example 70 3.6 Conclusion 75 References 75 Chapter 4 Dynamic Event-Triggered DMPC of Networked Systems 77 4.1 Introduction 77 4.2 Optimization Problem Formulation 79 4.3 Event-Triggering Condition 80 4.4 Dynamic Event-Triggering Condition 84 4.5 Dynamic Event-Triggered DMPC Algorithm 86 4.6 Performance Analysis 87 4.7 Example 90 4.8 Conclusion 93 References 93 Chapter 5 Mixed Time/Event-Triggered DMPC of Networked Systems 95 5.1 Introduction 95 5.2 Problem Formulation 96 5.2.1 Event-Triggered DMPC Optimization Problem 98 5.2.2 Time-Triggered DMPC Optimization Problem 99 5.3 Mixed Time/Event-Triggered Dual-Mode DMPC 101 5.3.1 Event-Triggering Condition 101 5.3.2 Mixed Time/Event-Triggered Dual-Mode DMPC Algorithm 105 5.4 Feasibility and Stability Analysis 107 5.5 Example 113 5.6 Conclusion 118 References 118 Chapter 6 Self-Triggered DMPC of Networked Systems 121 6.1 Introduction 121 6.2 Problem Formulation 123 6.3 Co-Design of Self-Triggered Mechanism and DMPC Strategy 124 6.3.1 Self-Triggered DMPC Optimization Control Problem 124 6.3.2 Explicit Solution of the Self-Triggered MPC 127 6.3.3 Self-Triggered DMPC Algorithm 130 6.4 Stability Analysis 131 6.5 Example 133 6.6 Conclusion 140 References 141 Chapter 7 Event-Triggered Distributed Model Predictive Control for Interconnected Networked Systems 143 7.1 Introduction 143 7.2 Optimization Problem Formulation 145 7.3 Event-Triggering Conditions for NCSs with Dynamic Coupling 151 7.4 Event-Triggered DMPC Algorithm for Interconnected NCSs 156 7.5 Feasibility and Stability Analysis 158 7.6 Example 165 7.7 Conclusion 173 References 173