EXPLICIT MODEL PREDICTIVE CONTROL OF FAST DYNAMIC SYSTEM

Abstract

Explicit Model Predictive Control approach provides offline computation of the optimization law by Multi Parametric Quadratic Programming. The solution is Piece wise affine in nature. It is explicit representation of the system states and control inputs. Such law then can be solved using binary search tree and can be evaluated for fast dynamic systems. Implementing such controllers can be done on microcontroller or ASIC/FPGA. DC Motor Speed Control - one of the benchmark systems is discussed here in this context. Its PWA law obtained, simulation of closed loop e-MPC is presented and its implementation approach using MPT toolbox and other such toolboxes is shown in brief.