151-0660-00L Model Predictive Control
| Semester | Spring Semester 2021 |
| Lecturers | M. Zeilinger, A. Carron |
| Periodicity | yearly recurring course |
| Language of instruction | English |
Courses
| Number | Title | Hours | Lecturers | ||||
|---|---|---|---|---|---|---|---|
| 151-0660-00 V | Model Predictive Control | 2 hrs |
| M. Zeilinger, A. Carron | |||
| 151-0660-00 U | Model Predictive Control | 1 hrs |
| M. Zeilinger, A. Carron |
Catalogue data
| Abstract | Model predictive control is a flexible paradigm that defines the control law as an optimization problem, enabling the specification of time-domain objectives, high performance control of complex multivariable systems and the ability to explicitly enforce constraints on system behavior. This course provides an introduction to the theory and practice of MPC and covers advanced topics. |
| Objective | Design and implement Model Predictive Controllers (MPC) for various system classes to provide high performance controllers with desired properties (stability, tracking, robustness,..) for constrained systems. |
| Content | - Review of required optimal control theory - Basics on optimization - Receding-horizon control (MPC) for constrained linear systems - Theoretical properties of MPC: Constraint satisfaction and stability - Computation: Explicit and online MPC - Practical issues: Tracking and offset-free control of constrained systems, soft constraints - Robust MPC: Robust constraint satisfaction - Nonlinear MPC: Theory and computation - Hybrid MPC: Modeling hybrid systems and logic, mixed-integer optimization - Simulation-based project providing practical experience with MPC |
| Lecture notes | Script / lecture notes will be provided. |
| Prerequisites / Notice | One semester course on automatic control, Matlab, linear algebra. Courses on signals and systems and system modeling are recommended. Important concepts to start the course: State-space modeling, basic concepts of stability, linear quadratic regulation / unconstrained optimal control. Expected student activities: Participation in lectures, exercises and course project; homework (~2hrs/week). |
Performance assessment
| Performance assessment information (valid until the course unit is held again) | |
Performance assessment as a semester course | |
| ECTS credits | 4 credits |
| Examiners | M. Zeilinger, A. Carron |
| Type | session examination |
| Language of examination | English |
| Repetition | The performance assessment is offered every session. Repetition possible without re-enrolling for the course unit. |
| Mode of examination | written 120 minutes |
| Additional information on mode of examination | The final grade is based on an exam and an optional take-home project. The exam takes place during the examination session. The project is a continuous performance assessment (learning task) and requires the student to understand and apply the lecture material. The grade of the project may contribute 0.25 grade points to the final grade, but only if it helps improving the final grade. |
| Written aids | Two A4 sheets of paper (4 pages, handwritten or computer typed) |
| This information can be updated until the beginning of the semester; information on the examination timetable is binding. | |
Learning materials
| Main link | Course webpage |
| Only public learning materials are listed. | |
Groups
| No information on groups available. |
Restrictions
| There are no additional restrictions for the registration. |
