Using Functional Mock-up Units for Nonlinear Model Predictive Control

Abstract

A software framework for prototyping of Nonlinear Model Predictive Control (NMPC) loops is presented that is based on the standardized model exchange for- mat FMI (Functional Mock-up Interface). Arising op- timal control problems are solved by an efficient im- plementation of the direct multiple shooting method, which is especially suitable for nonlinear and stiff system models. Using co-simulation, an optimizer, plant, and estimator can be coupled to a closed NMPC loop. Several stages of a typical control design process are supported, ranging from virtual simulation experi- ments to real plants with prototype NMPC controllers. Energy efficient control of vapor compression cycles is presented as example application of the proposed methods.