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1. 3. 2020.
An Implementation and Evaluation of Fast Embedded Model Predictive Control
This work studies hardware and software aspects concerning the implementation and the performance evaluation of a fast real-time embedded Model Predictive Control (MPC). This study is carried out using a low cost and a low power off-the-shelf high performance embedded computing platform (ARM Cortex M) and an off-the-shelf generic embedded MPC software implementation, with a general purpose QP (quadratic programming) solver (MATLAB). As an example, two oscillating masses system subject to input and output constraints is used. Throughout MPC evaluation is done using a hardware-in-the-loop (HIL) experiments, achieving a couple of milliseconds sampling rates.