151-0660-00L Model Predictive Control
Semester | Spring Semester 2017 |
Lecturers | M. Zeilinger |
Periodicity | yearly recurring course |
Language of instruction | English |
Courses
Number | Title | Hours | Lecturers | ||||
---|---|---|---|---|---|---|---|
151-0660-00 V | Model Predictive Control | 2 hrs |
| M. Zeilinger | |||
151-0660-00 U | Model Predictive Control | 1 hrs |
| M. Zeilinger |
Catalogue data
Abstract | Model predictive control is a flexible paradigm that defines the control law as an optimization problem, enabling the specification of time-domain objectives, high performance control of complex multivariable systems and the ability to explicitly enforce constraints on system behavior. This course provides an introduction to the theory and practice of MPC and covers advanced topics. |
Objective | Design and implement Model Predictive Controllers (MPC) for various system classes to provide high performance controllers with desired properties (stability, tracking, robustness,..) for constrained systems. |
Content | - Review of required optimal control theory - Basics on optimization - Receding-horizon control (MPC) for constrained linear systems - Theoretical properties of MPC: Constraint satisfaction and stability - Computation: Explicit and online MPC - Practical issues: Tracking and offset-free control of constrained systems, soft constraints - Robust MPC: Robust constraint satisfaction - Nonlinear MPC: Theory and computation - Hybrid MPC: Modeling hybrid systems and logic, mixed-integer optimization - Simulation-based project providing practical experience with MPC |
Lecture notes | Script / lecture notes will be provided. |
Prerequisites / Notice | One semester course on automatic control, Matlab, linear algebra. Courses on signals and systems and system modeling are recommended. Important concepts to start the course: State-space modeling, basic concepts of stability, linear quadratic regulation / unconstrained optimal control. Expected student activities: Participation in lectures, exercises and course project; homework (~2hrs/week). |
Performance assessment
Performance assessment information (valid until the course unit is held again) | |
Performance assessment as a semester course | |
ECTS credits | 4 credits |
Examiners | M. Zeilinger |
Type | session examination |
Language of examination | English |
Repetition | The performance assessment is only offered in the session after the course unit. Repetition only possible after re-enrolling. |
Mode of examination | written 120 minutes |
Additional information on mode of examination | The final grade is based on the session exam, an optional in-class quiz, and optional programming exercises: The grade of the quiz may contribute 15% to the final grade, but only if it helps improving the final grade. The average grade of the programming exercises may contribute 15% to the final grade, but only if it helps improving the final grade. |
Written aids | Two A4 sheets of paper (4 pages, handwritten or computer typed) |
This information can be updated until the beginning of the semester; information on the examination timetable is binding. |
Learning materials
Main link | Course webpage |
Recording | Recordings from the previous block course (accessible to ETH students only) |
Only public learning materials are listed. |
Groups
No information on groups available. |
Restrictions
There are no additional restrictions for the registration. |