Architectures for distributed and hierarchical Model Predictive Control - A review

The aim of this paper is to review and to propose a classification of a number of decentralized, distributed and hierarchical control architectures for large scale systems. Attention is focused on the design approaches based on Model Predictive Control. For the considered architectures, the underlying rationale, the fields of application, the merits and limitations are discussed, the main references to the literature are reported and some future developments are suggested. Finally, a number of open problems is listed.