Nonlinear Model Predictive Control (NMPC) formulations through quasi-Linear Parameter Varying (qLPV) embeddings have been brought to focus in recent literature. The qLPV realisation of the nonlinear dynamics yields linear predictions at each sampling instant. Thereby, these control strategies offer online implementation with numerical toughness of Sequential Quadratic Programs (SQPs), which can be solved much faster than the Nonlinear Programs (NPs) generated with “regular” NMPC design. The general lines of such methods are as follows: (i) The qLPV embedding is formulated with state-dependent scheduling parameters; (ii) recursive extrapolation procedures are used to estimate the values of these parameters along the prediction horizon; (iii) these estimates are used to compute linear predictions, which are used to compute the control law through a constrained optimisation procedure. This presentation details the overall concept of these novel NMPC

NMPC through qLPV Embedding: A Tutorial Review of Different Approaches

Nonlinear MPC

technical paper

The IFAC Conference on Nonlinear Model Predictive Control (NMPC 2021) aims to bring together researchers interested in and work in the MPC field from both academia and industry. This allows us to reflect and establish the current state-of-the-art and focus on the future development of the MPC field towards relevant directions.

Model predictive control (MPC) is indisputably one of the advanced control techniques that have significantly affected control engineering practice with thousands of controllers implemented in various fields, spanning from the process industry to automotive and robotics. This is due to its unique ability to handle constraints, take preview information about disturbances and setpoint changes into account, and optimize performance. Furthermore, MPC allows the consideration of various types of dynamics, from linear to nonlinear, discrete to continuous, as well as an online adaptation of models and parameters. The research community on MPC is very active, with hundreds of papers published every year. Over the past decades, many theoretical, as well as implementation results, have been achieved.

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Nonlinear Model Predictive Control Conference 2021

The IFAC Conference on Nonlinear Model Predictive Control (NMPC 2021) aims to bring together researchers interested in and work in the MPC field from both academia and industry. This allows us to reflect and establish the current state-of-the-art and focus on the future development of the MPC field towards relevant directions.

Marcelo Morato

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NMPC through qLPV Embedding: A Tutorial Review of Different Approaches

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