Organizer: Karl-Erik Årzén
This a graduate/PhD course on Model Predictive Control (MPC) given on study circle form, i.e, it is the participants that do most of the work.
We will use the text book Model-Predictive Control: Theory and Design by Rawlings and Mayne together with material from the courses
- ME-425 Model-Predictive Control developed by Colin Jones at EPFL
- EL2700 Model predictive control developed by Mikael Johansson at KTH
In addition we will use the following texts and tools:
- The MPCtools Matlab toolbox
- The CVX Matlab toolbox
- The CVXGEN toolbox
- The QPgen toolbox
Feb 20, 12:30: Introduction meeting
Mar 9, 10:30: Introduction to MPC. Before this meeting you should have read the following material: Slides from lectures 1 and 6 in EL2700 (+ lectures 2-5 if needed). Slides "Introduction to MPC" and "Linear Systems Refresher" from ME-425. Chapter 1 in Rawlings & Mayne.
Mar 16, 10:15: Unconstrained Optimization. Go through the following material: 1) Slides "Optimal Control of Unconstrained Systems" from ME-425 2) Chapter 2 in Rawlings & Mayne 3) Exercise 1 in ME-425 4) Lab 2 in EL2700.
Mar 29, 10:15: Optimization and Constrained Systems. Go through the following material: 1) Slide sets "Intro to optimization" and "Intro to constrained systems" from ME-425. 2) Exercise 2 and 3 in ME-425. 3) Necessary background material, e.g., Optimization appendix in Rawlings and Mayne
Apr 6, 10:15: Constrained Systems. Go through slide set "Intro to constrained systems from ME-425 and Exercise 3 in ME-425.
Apr 13, 10:15: MPC. Go through slide set "MPC" from ME-425 and Exercse 4 in ME-425. If time allows also go through slides set "Practical MPC"
Apr 20, 14:00 - 16:00 Practical MPC
Apr 28, 10:30 - 12:00 Robust MPC
May 29, 8:15 - 10:00 Explicit MPC and Operator Splitting
August 29, 13:00 - 15:00 Individual Presentations