Dp 274 en
Explicit Solution of the Model Predictive Control
Author: Řehoř Jiří
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.
- Řehoř Jiří, tel: +0420 604 247 122, mailto:jirka.rehor@gmail.com