Title: Nonlinear Model Predictive Control - Theory and Applications
Lecturer: Dr. Timm Faulwasser
Credits: 5 ECTS
During the Summer term (Sommersemester) we will offer a course on
Nonlinear Model Predictive Control - Theory and Applications
Model Predictive Control (MPC) “[…] is the only advanced control technique—that is, more advanced than standard PID control—to have had a significant and widespread impact on industrial process control” (Jan Maciejowski, Predictive control: with constraints Pearson Education Limited, 2002).
The course will cover the following topics:
- Optimality conditions for static optimization problems
- Basics of Optimal Control Theory, Pontryagin Maximum Principle
- Formulation of Optimal Control Problems
- Primer on numerical solution methods (shooting methods and collocation)
- Principle of nonlinear model predictive control
- Sufficient stability conditions with and without terminal constraints
- Implementation aspects of NMPC
- Research outlook: NMPC for energy systems, path following for robots, ...
The course is worth 4 ECTS credits. It will be held on the following dates:
- Start: 24.04.2017 09:45--11:15, 11:30--13:00 (Campus Süd, G50.34 R107)
- End: 24.07.2017 09:45--11:15, (Campus Süd G50.34 R107)
- Matlab >= Version 2013a
- Optimization toolbox (fmincon, quadprog, linprog, ...)
The course will involve pen&paper exercsises as well as in-class computer exercises (Matlab), for which students should bring their laptops. Furthermore, there will be take-home projects, which contribute to the final grade. The guidelines are
- project report of 10 to 20 pages
- concise project presentation
- project involves problem formulation and problem solution.
- Lecturer and teaching assistants are available at any time.
- deadlines to be announced
The course is part of the Vertiefungsfach "Robotik und Automation" of the Master Computer Science.
For further information click here
- Maciejowski, J. Predictive control: with constraints Pearson Education Limited, 2002
- Rawlings, J. & Mayne, D. Model Predictive Control: Theory & Design Nob Hill Publishing, Madison, WI, 2009
- Mayne, D.; Rawlings, J.; Rao, C. & Scokaert, P. Constrained model predictive control: Stability and optimality Automatica, 2000, 36, 789-814
- Further references: see last slides of introductory lecture.