Implementation of analytical generalized predictive controller for very fast applications using microcontrollers: Preliminary results

Abstract

This paper describes implementation of the Generalized Predictive Control (GPC) algorithm on an STM32 microcontroller with the ARM Cortex M7 core. The algorithm is implemented in its analytical (explicit) version which requires computationally simple matrix and vector operations in real time, no on-line optimisation is necessary. As a result, the algorithm may be used for controlling very fast dynamic processes characterised by sampling periods of millisecond order. Results of real experiments are demonstrated for two example processes.