Skip to Main Content
As linear model predictive control (MPC) becomes a standard technology, nonlinear MPC (NMPC) approach is debuting both in academia and industry. In this paper, the NMPC problem is formulated as a convex quadratic programming problem based on nonlinear model prediction and linearization. A recurrent neural network for NMPC is then applied for solving the quadratic programming problem. The proposed network is globally convergent to the optimal solution of the NMPC problem. Simulation results are presented to show the effectiveness and performance of the neural network approach.