We consider the implementation problem of Model Predictive Control (MPC) especially for linear control systems. In the real time computation of MPC, we need to choose an optimization method to solve at each sampling periods. For this purpose, we suggest a new combination of the existing numerical calculation methods to speed up the computer calculation. More precisely, we first introduce the well known KKT theorem in optimization problems, which is used in the MPC calculation procedure. Secondly, we review the MPC calculation and present a linear Lagrangian algorithm for the KKT theorem, which is combined with Wolfe conditions and Dual method. Finally, in order to demonstrate the proposed approach, we provide one numerical example and another example for stabilization of inverted pendulums.
|ジャーナル||Journal of Physics: Conference Series|
|出版ステータス||Published - 2020 6月 9|
|イベント||5th International Conference on Mathematics: Pure, Applied and Computation, ICoMPAC 2019 - Surabaya, Indonesia|
継続期間: 2019 10月 19 → …
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