A formulation of model predictive control for supermarket refrigeration systems is proposed to facilitate the regulatory power services as well as energy cost optimization of such systems in the smart grid. Nonlinear dynamics existing in large-scale refrigeration plants challenges the predictive control design. It is however shown that taking into account the knowledge of different time scales in the dynamical subsystems makes possible a linear formulation of a centralized predictive controller. A realistic scenario of regulatory power services in the smart grid is considered and formulated in the same objective as of a cost optimization one. A simulation benchmark validated against real data and including significant dynamics of the system is employed to show the effectiveness of the proposed control scheme.
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