Model Predictive Control

Lecture slides:

1. Introduction & Stability theory

2. Optimization & LQR

3. MPC - Stability

4. MPC - Linear systems

5. Output MPC

6. Hybrid MPC

7. Distributed MPC

Exercise sets (with solutions): BrightSpace TU Delft

Reference material:

• Rawlings, Mayne, Diehl, "Model Predictive Control: Theory, Computation and Design"

• Bemporad, Morari, "Control of systems integrating logic, dynamics and constraints", Automatica, 1999

• Garcia, Prett, Morari, "Model predictive control: Theory and practice - A survey", Automatica, 1989

• Mayne, Rawlings, Rao, Scokaert, "Constrained model predictive control: Stability and optimality", Automatica, 2000

• Pannocchia, Rawlings, "Disturbance models for offset-free MPC control", AIChE, 2003

• Steward, Venkat, Rawlings, Wright, Pannocchia, "Cooperative distributed model predictive control", Systems & Control Letters, 2010

YouTube Videos:

• "Understanding Model Predictive Control", Matlab, Mathworks