Abstract
In order to effectively control nonlinear and multivariable models, and to incorporate constraints on system states, inputs and outputs (bounds, rate of change), a suitable (sometimes necessary) controller is Model Predictive Control (MPC). MPC is an optimization-based control scheme that requires abundant matrix operations for the calculation of the optimal control moves. In this work we propose a mixed software and hardware embedded MPC implementation. Using a codesign step and based on profiling results, we decompose the optimization algorithm into two parts: one that fits into a host processor and one that fits into a custom made unit, that performs the computationally demanding arithmetic operations. The profiling results and information on the co-processor design are provided.
Original language | English (US) |
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Title of host publication | Proceedings of the American Control Conference |
Pages | 1912-1917 |
Number of pages | 6 |
Volume | 2006 |
State | Published - 2006 |
Externally published | Yes |
Event | 2006 American Control Conference - Minneapolis, MN, United States Duration: Jun 14 2006 → Jun 16 2006 |
Other
Other | 2006 American Control Conference |
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Country/Territory | United States |
City | Minneapolis, MN |
Period | 6/14/06 → 6/16/06 |
ASJC Scopus subject areas
- Control and Systems Engineering