Robust constrained economic receding horizon control applied to the two time-scale dynamics problem of a greenhouse

This paper discusses the formulation of an optimal control framework for a two time‐scale system modeled in terms of singular perturbation theory. The fast dynamics subsystem is controlled online by means of a robust receding horizon control approach considering economic objectives in the performance function and fulfilling state and input constraints. The formulation is addressed in general terms, so it can be adapted to different applications. A practical example is given, greenhouse crop growth control. Simulations comparing the proposed controller with another two time‐scale control strategy demonstrate constraints fulfillment and a proper performance, assuming uncertainty in the weather conditions during the predictions.