The crucial message of this chapter — the concept of model predictive control (MPC) — has been described in a number of dedicated monographs and textbooks. Particularly recommendable are (Rawlings, Mayne, and Diehl 2017) and (Borrelli, Bemporad, and Morari 2017). They are not only reasonably up-to-date, written by leaders in the field, but they are also available online.
Some updates as well as additional tutorial are in (Raković and Levine 2019), which seems to be available to CTU students through the institutional access.
There seems to be no shortage of lecture notes and slides as well. Particularly recommendable are the course slides (Bemporad 2021) and (Boyd n.d.).
Extensions towards nonlinear systems are described in (Grüne and Pannek 2017), which also seems to be available to CTU students through the institutional access.
Since MPC essentially boils down to solving optimization problems in real time on some industrial device, the topic of embedded optimization is important. Nice overview is given in (Ferreau et al. 2017).
Back to topReferences
Bemporad, Alberto. 2021.
“Model Predictive Control.” Lecture Slides.
http://cse.lab.imtlucca.it/~bemporad/teaching/mpc/imt/1-linear_mpc.pdf.
Borrelli, Francesco, Alberto Bemporad, and Manfred Morari. 2017.
Predictive Control for Linear and Hybrid Systems. Cambridge, New York: Cambridge University Press.
http://cse.lab.imtlucca.it/~bemporad/publications/papers/BBMbook.pdf.
Boyd, Stephen. n.d.
“Model Predictive Control (EE364b - Convex Optimization II.).” Lecture Slides. Stanford University. Accessed February 25, 2019.
https://stanford.edu/class/ee364b/lectures/mpc_slides.pdf.
Ferreau, H. J., S. Almér, R. Verschueren, M. Diehl, D. Frick, A. Domahidi, J. L. Jerez, G. Stathopoulos, and C. Jones. 2017.
“Embedded Optimization Methods for Industrial Automatic Control.” IFAC-PapersOnLine, 20th
IFAC World Congress, 50 (1): 13194–209.
https://doi.org/10.1016/j.ifacol.2017.08.1946.
Grüne, Lars, and Jürgen Pannek. 2017.
Nonlinear Model Predictive Control: Theory and Algorithms. 2nd ed. Communications and
Control Engineering. Cham: Springer.
https://doi.org/10.1007/978-3-319-46024-6.
Raković, Saša V., and William S. Levine, eds. 2019.
Handbook of Model Predictive Control. Control
Engineering. Birkh
äuser Basel.
https://www.springer.com/us/book/9783319774886.
Rawlings, James B., David Q. Mayne, and Moritz M. Diehl. 2017.
Model Predictive Control: Theory, Computation, and Design. 2nd ed. Madison, Wisconsin: Nob Hill Publishing, LLC.
http://www.nobhillpublishing.com/mpc-paperback/index-mpc.html.