Several software tools are available in the literature for the design and embedded implementation of linear model predictive control (MPC), both in its implicit and explicit (either exact or approximate) forms. Most of them generate C code for easy implementation on a microcontroller, and the others can convert the C code into hardware description language code for implementation on a field programmable gate array (FPGA). However, a unified tool allowing one to generate efficient embedded MPC for an FPGA, starting from the definition of the plant and its constraints, was still missing. The MOBY-DIC2 toolbox described in this brief bridges this gap. To illustrate its functionalities, the tool is exploited to embed the controller and observer for a real buck power converter in an FPGA. This implementation achieves a latency of about 30μ s with the implicit controller and 240 ns with the approximate explicit controller. © 1993-2012 IEEE.

Co-Design of a Controller and Its Digital Implementation: The MOBY-DIC2 Toolbox for Embedded Model Predictive Control

A. Bemporad;
2023-01-01

Abstract

Several software tools are available in the literature for the design and embedded implementation of linear model predictive control (MPC), both in its implicit and explicit (either exact or approximate) forms. Most of them generate C code for easy implementation on a microcontroller, and the others can convert the C code into hardware description language code for implementation on a field programmable gate array (FPGA). However, a unified tool allowing one to generate efficient embedded MPC for an FPGA, starting from the definition of the plant and its constraints, was still missing. The MOBY-DIC2 toolbox described in this brief bridges this gap. To illustrate its functionalities, the tool is exploited to embed the controller and observer for a real buck power converter in an FPGA. This implementation achieves a latency of about 30μ s with the implicit controller and 240 ns with the approximate explicit controller. © 1993-2012 IEEE.
2023
Embedded model predictive control (MPC)
field programmable gate array (FPGA)
hardware-software co-design
File in questo prodotto:
File Dimensione Formato  
Co-Design_of_a_Controller_and_Its_Digital_Implementation_The_MOBY-DIC2_Toolbox_for_Embedded_Model_Predictive_Control.pdf

accesso aperto

Tipologia: Versione Editoriale (PDF)
Licenza: Creative commons
Dimensione 5.58 MB
Formato Adobe PDF
5.58 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11771/27978
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 0
social impact