Explicit predictive control in application

Kirill Lastochkin

Master's thesis

Abstract:

In the thesis the basic principles of Model Predictive Control and its explicit form are considered. The main goal of this work was to implement explicit MPC control strategy for control of the real plant and realize it on the basis of microcontroller. There were four important steps from theory to realization. The first step was to learn the information about the topic in the field of Model Predictive Control. The second step was to make an identification of the controlled plant. The third step contained explicit predictive controller synthesis with the help of additional toolbox for Matlab, called Hybrid Toolbox. Also this step included exploration of parameter influence and comparison with popular control methods. At the last step explicit predictive controller was realized on the microcontroller STM32F100RBT6B.

Abstract:

In the thesis the basic principles of Model Predictive Control and its explicit form are considered. The main goal of this work was to implement explicit MPC control strategy for control of the real plant and realize it on the basis of microcontroller. There were four important steps from theory to realization. The first step was to learn the information about the topic in the field of Model Predictive Control. The second step was to make an identification of the controlled plant. The third step contained explicit predictive controller synthesis with the help of additional toolbox for Matlab, called Hybrid Toolbox. Also this step included exploration of parameter influence and comparison with popular control methods. At the last step explicit predictive controller was realized on the microcontroller STM32F100RBT6B.

Keywords

Explicit MPC, regulation, Hybrid Toolbox, DC motor, STM32F100RBT6B

Language used: English

Date on which the thesis was submitted / produced: 15. 5. 2015

Thesis defence

• Date of defence: 16. 6. 2015
• Supervisor: Ing. Lukáš Hubka, Ph.D.

Technical University of Liberec

Faculty of Mechatronics, Informatics and Interdisciplinary Studies

Master programme / field:
Electrical Engineering and Informatics / Mechatronics