Rubagotti, Matteo and Patrinos, Panagiotis and Guiggiani, Alberto and Bemporad, Alberto
*Real-time model predictive control based on dual gradient projection: Theory and fixed-point FPGA implementation.*
International Journal of Robust and Nonlinear Control, 26 (15).
pp. 3292-3310.
ISSN 10498923
(2016)

## Abstract

This paper proposes a method to design robust model predictive control (MPC) laws for discrete-time linear systems with hard mixed constraints on states and inputs, in case of only an inexact solution of the associated quadratic program is available, because of real-time requirements. By using a recently proposed dual gradient-projection algorithm, it is proved that the discrepancy of the optimal control law as compared with the obtained one is bounded even if the solver is implemented in fixed-point arithmetic. By defining an alternative MPC problem with tightened constraints, a feasible solution is obtained for the original MPC problem, which guarantees recursive feasibility and asymptotic stability of the closed-loop system with respect to a set including the origin, also considering the presence of external disturbances. The proposed MPC law is implemented on a field-programmable gate array in order to show the practical applicability of the method.

Item Type: | Article |
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Identification Number: | 10.1002/rnc.3507 |

Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science |

Research Area: | Computer Science and Applications |

Depositing User: | Caterina Tangheroni |

Date Deposited: | 10 Oct 2016 15:08 |

Last Modified: | 10 Oct 2016 15:08 |

URI: | http://eprints.imtlucca.it/id/eprint/3583 |

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