MODEL PREDICTIVE CONTROL USING FPGA
Ahmed.El Mahdy · Zenodo (CERN European Organization for Nuclear Research) · 2015
Model predictive control (MPC) is an advanced control algorithm that has been very successful in the control industries due to its capability of handling multi input multi output (MIMO) systems with physical constraints. In MPC, the control action are obtained by solving a constrained optimization problem at every sample interval to minimize the difference between the predicted outputs and the reference value through the using of minimum control energy and satisfying the constraints of the physical system. Quadratic programing (QP) problem is solved using QPKWIK method which improves the active set method. The system architecture and design for the implementation of online MPC on the FPGA is taken into consideration in this paper to control a DC motor. This implementation is completed using Spartan6 Nexys3 FPGA chip using simulation environment (EDK tool) and the comparison between MPC and PID controller is also established.