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Implementation of linear model predictive control using a field-programmable gate array

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4 Author(s)
Mills, A. ; Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia ; Wills, A.G. ; Weller, S.R. ; Ninness, B.

This study investigates the design of a field-programmable gate array-based custom computer architecture solution for implementing model predictive control (MPC). The solution employs a primal logarithmic-barrier interior-point algorithm in order to handle actuator constraints. The solution also incorporates practical aspects of a control algorithm including state observation and data sampling. The resulting circuit is profiled by application to a disturbance rejection control problem of a 14th-order lightly damped flexible beam structure with actuator constraints. This is achieved at 2 kHz sampling frequency and with 16-sample prediction horizon.

Published in:

Control Theory & Applications, IET  (Volume:6 ,  Issue: 8 )