control course

Model Predictive Control

Teacher: Alberto Bemporad

COURSE DESCRIPTION

Abstract

Model Predictive Control (MPC) is a well-established technique for controlling multivariable systems subject to constraints on manipulated variables and outputs in an optimized way. Following a long history of success in the process industries, in recent years MPC is rapidly expanding in several other domains, such as in the automotive and aerospace industries, smart energy grids, and financial engineering.

The course is intended for students and engineers who want to learn the theory and practice of Model Predictive Control (MPC) of constrained linear, linear time-varying, nonlinear, stochastic, and hybrid dynamical systems, and numerical optimization methods for the implementation of MPC. The course will make use of the MPC Toolbox for MATLAB developed by the speaker and co-workers (distributed by The MathWorks, Inc.) for basic linear MPC, and on the Hybrid Toolbox for explicit and hybrid MPC.

Syllabus

General concepts of Model Predictive Control (MPC). MPC based on quadratic programming. General stability properties. MPC based on linear programming. Models of hybrid systems: discrete hybrid automata, mixed logical dynamical systems, piecewise affine systems. MPC for hybrid systems based on on-line mixed-integer optimization. Multiparametric programming and explicit linear MPC, explicit solutions of hybrid MPC. Stochastic MPC: basic concepts, approaches based on scenario enumeration. Linear parameter- and time-varying MPC and applications to nonlinear dynamical systems. Selected applications of MPC in various domains, with practical demonstration of the MATLAB toolboxes.

PREREQUISITES

Linear algebra and matrix computation, linear control systems, numerical optimization.

TIMETABLE

Thu, Mar 9, 2017: 11.00-13.00 / 14.30-16.30
Fri, Mar 10, 2017: 11.00-13.00 / 14.30-16.30
Wed, Mar 15, 2017: 11.00-13.00 / 14.30-16.30
Thu, Mar 16, 2017: 11.00-13.00 / 14.30-16.30
Fri, Mar 17, 2017: 11.00-13.00 / 14.30-16.30

LOCATION

IMT School for Advanced Studies Lucca, Room #1, Piazza San Francesco 19, Lucca, Italy

LECTURE SLIDES
TOOLBOXES

MAIN REFERENCES
Last update: January 13, 2017