Course presentation for online- master and industry-master ...

Course presentation for online-master and industry-master

students

Model Predictive Control

IIA4117Instructor:

Roshan Sharma

University of Southeastern Norway

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Topics

• Info about the course in a nut shell

• Where to look for materials?

• How to communicate?

• Assignments, final exam, project work etc.

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IIA4117 Model Predictive Control

5 credits

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What will you learn? Mathematical model of processes

Openloop Simulation

(without control)

Linear Quadratic optimal control

(LQ)

Nonlinear optimal control

(NL)

Mathematical Optimization

problems

Efficient formulation(Sparse + Dense)

Nonlinear optimization

problem formulation

Solved using qpOASES solver

in Simulink

Solved using fmincon solver

With Linear model

With Nonlinear

model

Receding/Sliding horizon strategy

Linear MPC:Linear process modelQuadratic objective

Linear Constraints

Nonlinear MPC:nonlinear process modelobjectiveConstraints

at least one (or more) are nonlinear functions

State estimation:Why and how can we use state estimators along with MPC

(Kalman filter)

• In addition:• Multi-objective

optimization

• Utopia tracking MPC

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Where is it used?

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Homepage

http://home.usn.no/roshans/mpc

• Videos

• Lecture notes

• Exercises/Lab works

• Simulators

• Solvers to download

• Canvas is used for submission of assignment reports.

Everything you need is available in homepage(but not in Canvas)

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Communication

•E-mail

• Email address registered in Canvas will be used (please register the one that you use often).

• In some special cases, Skype or Skype for business can also be used for oral communication.

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Examination

Final written exam(60% weight)

3 hours duration(pen/pencil only)

Project work(40% weight)

(Application of linear MPC to a helicopter unit)

• Simulator development

• Applying on real unit

(1 or 2 days at the end of the semester.Probably in the middle of November)

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Compulsory Exercises/Labworks

(Accepted/Not accepted)

Finally,

Welcome!

Enjoy the course

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