Analog Solver for Embedded Model Predictive Control with Application to Quadruple Tank System

Continuous-time dynamic solvers have emerged as a viable alternative for online optimization of model predictive control (MPC). This class of solvers emulates the behavior of MPC by tracing its solution trajectories to the Karush-Kuhn-Tucker (KKT) optimality point. In this paper, we develop an analo...

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Bibliographic Details
Published in2021 American Control Conference (ACC) pp. 4680 - 4685
Main Authors Bruno, Joseph N., Moran, Francis D., Khajanchi, Hussain I., Adegbege, Ambrose A.
Format Conference Proceeding
LanguageEnglish
Published American Automatic Control Council 25.05.2021
Subjects
Analog circuits
Emulation
Field programmable analog arrays
Hardware
Prototypes
Storage tanks
Trajectory
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Summary:Continuous-time dynamic solvers have emerged as a viable alternative for online optimization of model predictive control (MPC). This class of solvers emulates the behavior of MPC by tracing its solution trajectories to the Karush-Kuhn-Tucker (KKT) optimality point. In this paper, we develop an analog circuit architecture for the hardware realization of such dynamic controllers. Using the gradient dynamics as a case study, we develop a prototype solver using a Field Programmable Analog Array (FPAA) and we validate its efficacy on a quadruple water tank system.
ISSN:2378-5861
DOI:10.23919/ACC50511.2021.9483438