Improving Reliability of Partition Computation in Explicit MPC with MPT Toolbox
نویسنده
چکیده
The paper addresses the problem of numerical issues and degeneracies in the parametric quadratic programming (pQP) algorithm, used for computing partitions of explicit model predictive controllers (eMPC) with the Multi-Parametric Toolbox (MPT). We summarise the pQP problem setup and the basic algorithm, analyse its implementation in MPT, expose the numerical issues and suggest a series of improvements for more reliable operation, which are relevant also for other pQP solvers.
منابع مشابه
Explicit Model Predictive Control of Fast Dynamic System
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 ...
متن کاملExplicit model predictive control of gas-liquid separation plant via orthogonal search tree partitioning
Solutions to constrained linear model predictive control (MPC) problems can be pre-computed off-line in an explicit form as a piecewise linear (PWL) state feedback defined on a polyhedral partition of the state space. This admits implementation at high sampling frequencies in real-time systems with high reliability and low software complexity. Recently, algorithms that determine an approximate ...
متن کاملMOBY-DIC: A MATLAB Toolbox for Circuit-Oriented Design of Explicit MPC
This paper describes a MATLAB Toolbox for the integrated design of Model Predictive Control (MPC) state-feedback control laws and the digital circuits implementing them. Explicit MPC laws can be designed using optimal and sub-optimal formulations, directly taking into account the specifications of the digital circuit implementing the control law (such as latency and size), together with the usu...
متن کاملDesigning a novel structure of explicit model predictive control with application in a buck converter system
This paper proposes a novel structure of model predictive control algorithm for piecewise affine systems as a particular class of hybrid systems. Due to the time consuming and computational complexity of online optimization problem in MPC algorithm, the explicit form of MPC which is called Explicit MPC (EMPC) is applied in order to control of buck converter. Since the EMPC solves the optimizati...
متن کاملComputation and Approximation of Piecewise Affine Control Laws via Binary Search Trees
We present an algorithm for generating a binary search tree that allows efficient computation of piecewise affine (PWA) functions defined on a polyhedral partition. This is useful for PWA control approaches, such as explicit model predictive control (MPC), as it allows the controller to be implemented on-line with small computational effort. The computation time is logarithmic in the number of ...
متن کامل