Linear model predictive control (MPC) can be currently deployed at outstanding speeds, thanks to recent progress in algorithms for solving online the underlying structured quadratic programs. In contrast, nonlinear MPC (NMPC) requires the deployment of more elaborate algorithms, which require longer computation times than linear MPC. Nonetheless, computational speeds for NMPC comparable to those of MPC are now regularly reported, provided that the adequate algorithms are used. In this paper, we aim at clarifying the similarities and differences between linear MPC and NMPC. In particular, we focus our analysis on NMPC based on the real-time iteration (RTI) scheme, as this technique has been successfully tested and, in some applications, requires computational times that are only marginally larger than linear MPC. The goal of the paper is to promote the understanding of RTI-based NMPC within the linear MPC community.

From linear to nonlinear MPC: bridging the gap via the real-time iteration

Bemporad A;Zanon, Mario
2020-01-01

Abstract

Linear model predictive control (MPC) can be currently deployed at outstanding speeds, thanks to recent progress in algorithms for solving online the underlying structured quadratic programs. In contrast, nonlinear MPC (NMPC) requires the deployment of more elaborate algorithms, which require longer computation times than linear MPC. Nonetheless, computational speeds for NMPC comparable to those of MPC are now regularly reported, provided that the adequate algorithms are used. In this paper, we aim at clarifying the similarities and differences between linear MPC and NMPC. In particular, we focus our analysis on NMPC based on the real-time iteration (RTI) scheme, as this technique has been successfully tested and, in some applications, requires computational times that are only marginally larger than linear MPC. The goal of the paper is to promote the understanding of RTI-based NMPC within the linear MPC community.
2020
Linear MPC; real-time NMPC
File in questo prodotto:
File Dimensione Formato  
from_linear_to_nonlinear_mpc.pdf

non disponibili

Tipologia: Versione Editoriale (PDF)
Licenza: Nessuna licenza
Dimensione 1.29 MB
Formato Adobe PDF
1.29 MB Adobe PDF   Visualizza/Apri   Richiedi una copia
rti_ltv_mpc.pdf

accesso aperto

Tipologia: Documento in Post-print
Licenza: Creative commons
Dimensione 1.77 MB
Formato Adobe PDF
1.77 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/20.500.11771/3766
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 155
social impact