Process Identification and Control AA 22/23

Module 2

Info. Lessons for Module 2 are finished.

LESSONS (link):

  • MONDAY, 08:00-12:00, AULA 15 San Pietro in Vincoli (SPV).

  • THURDSAY & FRIDAY, 08:00-10:00, AULA 15 SPV.

  • LESSONS ARE IN PRESENCE.

The course is divided into 3 modules. This is the website of Module 2, dedicated to Model Predictive Control Theory & Applications.


EXAM

  • Written exam with exercises and questions. There is ONE exam, with exercises and questions on the three parts. Write the answer to the questions of the three modules on three separate sheets (i.e., don't write on the same sheet the answer to questions from different modules of the course. This will make it easier for us to correct the exams).

  • At the exam it is not allowed to use books, slides, or any other matherial. It is allowed to bring only one sheet with formulas.

  • For Module 2, there will be one question on theory, plus one excercise in which the student will be asked to write the MPC mathematical formulation for a given problem.


EXAM DATES


PROGRAM - MODULE 2

  • Introduction to Model Predictive Control (MPC). Hystorical notes. Pros and cons;

  • Formulation of an MPC problem: objective function, constraints, role and selection criteria for the stage cost, for the terminal cost, for the terminal constraints;

  • Economic MPC. Differences wrt classic MPC and associated challenges;

  • MPC problems with mixed-integer variables and dynamical-locigal constraints. Examples.

  • Examples of applications in various sectors: industrial control, power systems, transportation, etc.

  • Implementation in Julia technical language (https://julialang.org/).


REFERENCES (WILL BE UPDATED DURING THE COURSE)

The following ones are some excellent references on MPC.

  • [Cannon_2016]. Kouvaritakis, Basil, and Mark Cannon. "Model predictive control." Switzerland: Springer International Publishing (2016): 38.

https://www.springer.com/gp/book/9783319248516



  • [Hax_1977]. Bradley, Stephen P., Arnoldo C. Hax, and Thomas L. Magnanti. Applied mathematical programming. Addison-Wesley, 1977.

http://web.mit.edu/15.053/www/AMP.htm. •Consult Chapter 9. Another interesting presentation on logical constraints and integer programming is at this link.


LECTURE SLIDES

Link to Google Drive folder containing the slides (you can open it only using the Sapienza Gmail Account)

It contains presentations and notes from the lectures.


DIARY OF THE LESSONS

  1. 03/10/2022. Introduction to Module 2 of the course. Introduction to MPC concept. Up to slide 26.

  2. 07/10/2022. Recap of MPC concept. LQR problem and optimal solution. Constrained LQR and motivation of MPC concept as approximation of constrained LQR. Up to slide 33.

  3. 10/10/2022. General MPC formulation. First practical example. MPC for controlling the fast recharging process of electric vehicles at a service area. Up to slide 49.

  4. 17/10/2022. Example on fast charging of electric vehicles in a service area. Started coding the controller in Julia. See code and notes available in the shared folder. Link to video on the Julia coding part.

  5. 24/10/2022. Recursive feasibility. Slides, up to slide 60.

  6. 31/10/2022. Example on MPC for task scheduling. Example taken from real application in SESAME H2020 project (https://sesame-space.eu/). See blackboard notes, and zoom recording (audio, mainly).

  7. 3/11/2022. Stability of MPC.

  8. 4/11/2022. Stability of MPC. Slides, up to slide 77.

  9. 7/11/2022. Examples and conclusions. Slides, up to the last one.


PAST EXAMS (exam with solution - Module 3 only)

  • 11 January 2022. Link.

  • 8 February 2022. Link.

  • 25 March 2022. Link.

  • 1 June 2022. Link.

  • 1 July 2022. Link.

  • 9 September 2022. Link.