Decomposition method with feedback compensation for parallel computation of NMPC

Control technique that utilizes the advantage of parallel processing to increase the computational speed has been widely studied. A parallel non-linear MPC by using a decomposition method with feedback compensation is proposed to provide a faster control algorithm that is feasible for real time application. To guarantee the effectiveness of proposed algorithm, numerical simulations of two-tank level control system are illustrated. Simulation results shown that the proposed method consumes less computational time than conventional C/GMRES method.