ypymy / Model-Predictive-Control-SSY281

Repository for the course "Model Predictive Control" - SSY281 at Chalmers University of Technology

Model-Predictive-Control-SSY281

Repository for the course "Model Predictive Control" - SSY281 at Chalmers University of Technology

Assignment 1: Basic Control

• Discrete state-space model
• Controllabilty and observability analysis
• Feedback design (LQR and Kalman filter)
• Set-point tracking and disturbance rejection

Assignment 2: Linear QUadratic and Receding Horizon Control

• Dynamic Programming solution of the LQ problem
• Batch solution of the LQ problem
• Receding horizon control
• Constraint receding horizon control

Assignment 3: MPC Practice and Kalman Filter

• Set-point tracking
• Control of a chemical reactor

Assignment 4: Optimization basics and QP problems

• Optimization Basics
• QP Problems

Assignment 5: MPC Stability

• Stability analysis

Assignment 6: Multi-Parametric-Toolbox (MPT) and Persistent Feasibility

• MPT
• Persistent feasibility

Assignment 7: Feasibility, alternative formulations of MPC

• Linear MPC design
• Linear MPC design with soft-constraints

Assignment 8: Finite Time Control

• Explicit MPC and Finite Time Control