Implementation of Linear Model Predictive Control -- Tutorial
Michael Fink
TL;DR
This tutorial provides an overview of implementing linear Model Predictive Control with constrained states and inputs, emphasizing stability and recursive feasibility, supported by MATLAB examples.
Contribution
It offers a comprehensive guide to implementing linear MPC, including stability considerations and practical MATLAB code for real-world applications.
Findings
Implementation strategies for linear MPC demonstrated
Stability and recursive feasibility addressed
MATLAB code provided for practical use
Abstract
This tutorial shows an overview of Model Predictive Control with a linear discrete-time system and constrained states and inputs. The focus is on the implementation of the method under consideration of stability and recursive feasibility. The MATLAB code for the examples and plots is available online.
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Taxonomy
TopicsAdvanced Control Systems Optimization · Fault Detection and Control Systems · Control Systems and Identification