Model Predictive Control

Model Predictive Control
Yaser Nabeel Ibrahem

September 2024
References
• Rawlings, James Blake, David Q. Mayne, and Moritz

Diehl. Model predictive control: theory, computation, and
design. Vol. 2. Madison, WI: Nob Hill Publishing, 2017.
• Kouvaritakis, Basil, and Mark Cannon. "Model predictive

control." Switzerland: Springer International Publishing 38
(2016): 13-56.
Introduction
• It is well known that handling the required state and control constraints and
achieving the system stability are the main priority needs for tracking a
trajectory by the high non-linear dynamic models.
• The MPC controller has emerged as the most popular and valuable control
technique since the 1980s, known as Receding Horizon controller as well.
• It is a worth describing the method based on the principle of prediction to a

finite horizon at each sampling time starting from the current state.
• Subjected to the state and control constraints of the system dynamics, the
optimization problem is solved to determine the optimal control input.
The concepts and The origins of predictive control
• Easy to understand and powerful controller.

• Extensible to multivariable systems.
• Idea of a receding horizon.
• Computation of control signal by optimizing predicted plant behavior.
• Model Predictive Control Also known as:

• * Receding Horizon Control (RHC).
• * Dynamical Matrix Control (DMC).
• * Generalized Predictive Control (GPC).
Main components of model predictive control
• Actions depend on predictions.

• Predictions are based on a model.
• Current input is based on achieving a best output.
• Limited time window (receding horizon).
• Precise control requires an accurate model.
• Handles constraints (QP or LP) in a systematic way.
• solving an optimization problem at each step.
feature of MPC is that we can include different
kinds of models such as:
• Linear.
• nonlinear.
• SISO (Single input Single output).
• MIMO (Multiple Input Multiple Output) with strong coupling.
• Models with constraints.
• Models with time delays.
• Models with inverse response.
Constrained Linear Model Predictive Control
• The linear model predictive control LMPC approach is designed by relying on

the linearization of the dynamic model. The discrete time dynamical model
description is shown in equation (1).
Xk+1 = Ak Xk + Bk uk (1)
• The finite horizon optimal controller solves the following constrained

optimization problem at each time instant k to implement the MPC algorithm.
The cost function is presented by:
(2)
• Where the terminal state and its desired state are denoted by 𝒳N and 𝒳*N,
respectively, and the reference state is denoted by 𝒳*k. The prediction
horizon is denoted by N. Qf and Q are positive semidefinite matrices and R is
a positive definite matrix.
• The constrained optimization problem for linear MPC at each time instant k is
(3)
• 𝓧𝑲 ∈ 𝓡𝓷 , 𝒰𝐊 ∈ 𝓡𝓶 , A𝑲 ∈ 𝓡𝓷𝒙𝓷, B𝑲 ∈ 𝓡𝓷𝒙𝓶
• Where the state and input constraints are presented as
(4)
• The linear optimization algorithm is implemented to obtain a minimum Finite

horizon cost of the desired states and control inputs while the constraints are
satisfied.
• A quadratic programming (QP) or a linear programming algorithms are used
to solve the low level optimization problem at each time instant k, which can
produce an input sequence.
Constrained Non-linear Model Predictive Control
• Non-linear Model Predictive Control NMPC approach is proposed in this

chapter to handle the high non-linearity based on prediction method at each
sampling time subjected to the state and control constraints.
• For each sampling k, the optimal control sequence can be found by solving
the optimization problem including constraints in order to perform the NMPC
method. A nonlinear programming (NLP) or a quadratic programming (QP)
algorithm can be used to solve a constrained optimization problem at each
time instant k.
• The constrained optimization problem for non-linear MPC at each time
instant k is:
(5)
Figure (1) Basic concept of MPC
Where 𝒱 ≤ 𝑓
The goal of the model predictive controller is to determine a set of control
inputs at the time instant 𝐤, that will make the output of the system to follow a
prescribed output trajectory (desired control trajectory) over the prediction
horizon.

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Model Predictive Control

Yaser Nabeel Ibrahem

• Rawlings, James Blake, David Q. Mayne, and Moritz

• Kouvaritakis, Basil, and Mark Cannon. "Model predictive

• It is a worth describing the method based on the principle of prediction to a

• Easy to understand and powerful controller.

• Model Predictive Control Also known as:

• Actions depend on predictions.

• The linear model predictive control LMPC approach is designed by relying on

• The finite horizon optimal controller solves the following constrained

• The linear optimization algorithm is implemented to obtain a minimum Finite

• Non-linear Model Predictive Control NMPC approach is proposed in this

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