An Effective Online Computation Scheme for Constrained Model Predictive Control in Embedded Systems

Constrained model predictive control (CMPC) has been proved to be a successful tool in process industry. With its excellent tracking performance and natural ability in handling constraints, this technique now expands its applications to high band embedded systems. To make it more suitable for hardware implementation, this paper presents an effective online computation scheme for CMPC with interior point method. Such a computation scheme is verified to be effective and reliable in FPGA implementation for embedded applications