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Basic Idea of MPC

Model Predictive Control (MPC) is an advanced control method that optimally manages systems with multiple inputs and outputs by predicting future behavior and solving optimization problems at each time step. It is effective in handling constraints and nonlinearity, making it suitable for various applications from process industries to automotive and aerospace. Key design parameters, such as sample time, prediction horizon, and weighting factors, must be carefully chosen to optimize performance and maintain computational efficiency.

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5 views3 pages

Basic Idea of MPC

Model Predictive Control (MPC) is an advanced control method that optimally manages systems with multiple inputs and outputs by predicting future behavior and solving optimization problems at each time step. It is effective in handling constraints and nonlinearity, making it suitable for various applications from process industries to automotive and aerospace. Key design parameters, such as sample time, prediction horizon, and weighting factors, must be carefully chosen to optimize performance and maintain computational efficiency.

Uploaded by

moha amro
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Basic Idea of MPC :

Model Predictive Control (MPC) is an advanced control method that repeatedly


calculates optimal control actions by predicting future system behavior over a
limited horizon. At each time step, it uses the current system state and a dynamic
model to solve an optimization problem that minimizes costs while respecting
constraints, then applies only the immediate control action before repeating the
process with updated information.

Why Use MPC?

MPC can manage systems where multiple inputs affect multiple outputs, known as
MIMO systems. Because of these connections, it can be hard to design MIMO
systems with traditional controllers like PID. However, MPC can control all outputs
at once while considering how inputs and outputs influence each other.

MPC can also manage limits or constraints. These limits are important because
ignoring them can cause problems. MPC can predict changes (like feed-forward
control). If it knows about changes in advance, it can respond better and perform
more effectively.

Engineers have been using MPC in process industries since the 1980s. As
computers have become more powerful, MPC has also been used in other areas
like cars and airplanes.

How MPC Works:


Using a simple car example, that ive seen in video Imagine an MPC controller steering a
car to follow a desired path. At each moment, it predicts the car’s future lateral positions
and calculates the best steering adjustments to minimize two things: (1) the deviation
from the reference path and (2) abrupt changes in the steering angle. These goals are
combined into a cost function, where each term is weighted based on importance.

The controller solves this optimization problem to get a sequence of optimal steering
angles but only applies the first one to the car. At the next time step, it updates with the
car’s new position, shifts its prediction horizon forward, and repeats the process—
continuously adjusting for smooth and accurate path tracking.
Mohamed Alamrouni 3787
Handling Nonlinearity :

For linear systems with linear constraints and cost functions, linear time-invariant MPC
is ideal. This formulation results in a convex optimization problem that can be
efficiently solved using standard numerical methods. When dealing with mildly
nonlinear systems, you have two practical options: adaptive MPC (which updates the
linear model in real-time as operating conditions change) or gain-scheduled MPC
(which uses pre-computed linear models at specific operating points).

However, for strongly nonlinear systems - or when dealing with nonlinear constraints
or cost functions even in linear plants - nonlinear MPC becomes necessary. This
approach handles the full complexity of the system dynamics but requires more
sophisticated optimization techniques.

Simplifying MPC Implementation :

To reduce computational complexity in MPC :


- Apply model order reduction techniques
- Shorten prediction and control horizons
- Limit the number of constraints
- Use lower-precision numerical representations

For faster sampling requirements:


explicit MPC: Precomputes optimal solutions offline to minimize runtime calculations
Suboptimal MPC: Guarantees real-time performance by capping optimization
iterations, ensuring predictable execution times

These methods maintain control performance while addressing computational


limitations in resource-constrained applications.

Mohamed Alamrouni 3787


MPC Design Parameters :

To optimize MPC performance, key parameters must be set carefully. The sample
time is critical choose one that balances speed and computational effort. A
practical guideline is to take 10–20 control actions during the system’s response
time.

The prediction horizon must cover the system's significant dynamics, generally
spanning 20-30 time steps, while the control horizon is often set to 10-20% of the
prediction horizon to optimize maneuverability without excessive computation.

Constraints should be implemented strategically, with output constraints typically


made soft to prevent infeasibility while maintaining hard constraints on inputs
when necessary.

Weighting factors must be carefully tuned to balance competing objectives like


tracking accuracy and control effort, with critical outputs receiving higher weights.
These parameter choices collectively determine the controller's ability to handle
system dynamics while maintaining computational efficiency.

Mohamed Alamrouni 3787

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