Toward Dependable Embedded Model Predictive Control
- Tor Arne Johansen
- IEEE Systems Journal
This paper addresses the implementation of linear model predictive control (MPC) at millisecond range, or faster, sampling rates. This is achieved by designing a custom integrated circuit architecture that is specifically targeted to the MPC problem. As opposed to the more usual approach using a generic serial architecture processor, the design here is implemented using a field-programmable gate array and employs parallelism, pipelining, and specialized numerical formats. The performance of this approach is profiled via the control of a 14th-order resonant structure with 12 sample prediction horizon at 200s sampling rate. The results indicate that no more than 30 s are required to compute the control action. A feasibility study indicates that the design can also be implemented in 130 nm CMOS technology, with a core area of 2.5 mm . These results illustrate the feasibility of MPC for reasonably complex systems, using relatively cheap, small, and low-power computing hardware.