Dp 274 en

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Explicit Solution of the Model Predictive Control[edit]

Author: Řehoř Jiří

Diplomové práce 2008

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In many practical applications constraints on system states and inputs have to be considered. Model Predictive Control (MPC) is a popular method which can naturally deal with constraints and provides optimal control inputs based on a declared objective function. The main drawback of this approach is a need for a real-time optimization. This can be avoided using explicit formulation of MPC. In this thesis we examine explicit MPC method for a class of Linear-Time-Invariant systems with polyedric constraints and quadratic objective funcion. The appropriate solution of this case is obtained via multiparametric quadratic programming. Several examples were made to present various MPC properties. A simple controller for a real plant was also found.

Dp 2008 rehor jiri.pdf