%0 Book Section
%A Guiggiani, Alberto
%A Patrinos, Panagiotis
%A Bemporad, Alberto
%B Proceedings of the 19th IFAC World Congress
%D 2014
%F eprints:2328
%I IFAC
%K Identification and control methods; Cyber-Physical Systems
%P 2921-2926
%T Fixed-point implementation of a proximal Newton method for embedded model predictive control (I)
%U http://eprints.imtlucca.it/2328/
%X Extending the success of model predictive control (MPC) technologies in embedded applications heavily depends on the capability of improving quadratic programming (QP) solvers. Improvements can be done in two directions: better algorithms that reduce the number of arithmetic operations required to compute a solution, and more efficient architectures in terms of speed, power consumption, memory occupancy and cost. This paper proposes a fixed point implementation of a proximal Newton method to solve optimization problems arising in input-constrained MPC. The main advantages of the algorithm are its fast asymptotic convergence rate and its relatively low computational cost per iteration since it the solution of a small linear system is required. A detailed analysis on the effects of quantization errors is presented, showing the robustness of the algorithm with respect to finite-precision computations. A hardware implementation with specific optimizations to minimize computation times and memory footprint is also described, demonstrating the viability of low-cost, low-power controllers for high-bandwidth MPC applications. The algorithm is shown to be very effective for embedded MPC applications through a number of simulation experiments. 
%Z 19th IFAC World Congress, August 24-29, 2014, Cape Town, South Africa