NMPC Application using JModelica.org: Features and Performance
Christian Hartlep, Toivo Henningsson · Linköping electronic conference proceedings · 2015
In the past JModelica.orgwas successfully applied for generating optimal trajectories.Using it for Nonlinear Model Predictive Control (NMPC) is the natural next step and sets high requirements on calculation time.To improve real time capabilities warmstarting of the optimization and elimination of algebraic variables based on Block Lower Triangular (BLT) form were implemented.In performance comparisons, using the example of steam temperature control, a speed-up of the optimization time by a factor of five and of two respectively was measured.The increased efficiency allows application of NMPC to faster systems than before.