PLC implementation of a predictive controller using Laguerre functions and multi-parametric solutions

This paper presents a novel implementation of a constrained predictive control (MPC) algorithm. The MPC algorithm is based on Laguerre predictions and multiparametric solutions guaranteeing larger feasibility sets, low computational burden and memory storage. Specifically the paper discusses programming of MPC in an industrial Programable Logic Controller (PLC) software. A laboratory experiment test was carried out to demonstrate the code on real hardware. The result of this work serve as an encouragement to further investigate the potential for developing efficient algorithms within off the shelf industrial standard hardware.