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October 14, 2021 (v1)PublicationUploaded on: March 25, 2023
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September 19, 2022 (v1)Publication
This article presents a novel model predictive control (MPC) formulation for set-point tracking. Stabilizing predictive controllers based on terminal ingredients may exhibit stability and feasibility issues in the event of a reference change for small to moderate prediction horizons. In the MPC for tracking formulation, these issues are solved...
Uploaded on: December 4, 2022 -
September 19, 2022 (v1)Publication
Accelerated first order methods, also called fast gradient methods, are popular optimization methods in the field of convex optimization. However, they are prone to suffer from oscillatory behaviour that slows their convergence when medium to high accuracy is desired. In order to address this, restart schemes have been proposed in the...
Uploaded on: March 24, 2023 -
March 4, 2022 (v1)Publication
In this article, we present an implementation of a low-memory footprint model predictive control (MPC)-based controller in programmable logic controllers (PLCs). Automatic code generation of standardized IEC 61131-3 PLC programming languages is used to solve the MPC's optimization problem online. The implementation is designed for its...
Uploaded on: March 25, 2023 -
April 25, 2020 (v1)Publication
En este trabajo se describe la implementación de un controlador predictivo (MPC) en un autómata programable (PLC) a través de una librería en MATLAB. La librería toma los datos del sistema y los parámetros del MPC y genera con ello el código del controlador de forma que se minimice el uso de memoria del PLC. El código generado se empaqueta en...
Uploaded on: December 4, 2022 -
November 23, 2023 (v1)Publication
In safety-critical applications that rely on the solution of an optimization problem, the certification of the optimization algorithm is of vital importance. Certification and suboptimality results are available for a wide range of optimization algorithms. However, a typical underlying assumption is that the operations performed by the...
Uploaded on: November 25, 2023 -
May 26, 2023 (v1)Publication
How to efficiently implement Model Predictive Control (MPC) in embedded systems is a topic that is attracting a lot of research recently, due to its impact in practical applications. Implementing MPC in industrial Programmable Logic Controllers (PLCs) is of particular interest due to their widespread prevalence in the industry in comparison...
Uploaded on: May 27, 2023 -
February 24, 2022 (v1)Publication
This article presents a sparse, low-memory footprint optimization algorithm for the implementation of model predictive control (MPC) for tracking formulation in embedded systems. This MPC formulation has several advantages over standard MPC formulations, such as an increased domain of attraction and guaranteed recursive feasibility even in the...
Uploaded on: March 27, 2023 -
June 6, 2022 (v1)Publication
Many popular approaches in the field of robust model predictive control (MPC) are based on nominal predictions. This paper presents a novel formulation of this class of controller with proven input-to-state stability and robust constraint satisfaction. Its advantages are: (i) the design of its main ingredients are tractable for medium to...
Uploaded on: March 25, 2023 -
March 14, 2024 (v1)Publication
Model Predictive Control (MPC) is typically characterized for being computationally demanding, as it requires solving optimization problems online; a particularly relevant point when considering its implementation in embedded systems. To reduce the computational burden of the optimization algorithm, most solvers perform as many offline...
Uploaded on: March 16, 2024 -
November 24, 2022 (v1)Publication
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offers several advantages over standard MPC formulations at the expense of the addition of a small number of decision variables, which complicates the inner structure of...
Uploaded on: December 5, 2022