Implementation of Linear Model Predictive Control Using a Field Programmable Gate Array

The paper investigates the design of a field programmable gate array based custom computer architecture solution for implementing model predictive control. The solution employs a primal logarithmic-barrier interior-point algorithm in order to handle actuator constraints. The solution also incorporates practical aspects of a control algorithm including state observation and data sampling. The resulting circuit is profiled by application to a disturbance rejection control problem of a 14'th order lightly damped flexible beam structure with actuator constraints. This is achieved at 2 kHz sampling frequency and with 16-sample prediction horizon.

Provided by: University of New York in Prague Topic: Software Date Added: Aug 2011 Format: PDF

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