Title :
The gradient based nonlinear model predictive control software GRAMPC
Author :
Kapernick, Bartosz ; Graichen, Knut
Author_Institution :
Inst. of Meas., Control, & Microtechnol., Univ. of Ulm, Ulm, Germany
Abstract :
This paper presents the nonlinear model predictive control (MPC) software GRAMPC (GRAdient based MPC - [græmp´si:]) which is suited for controlling nonlinear systems with input constraints in the (sub)millisecond range. GRAMPC is based on a real-time solution strategy in combination with a (projected) gradient method. It is written in plain C with an interface to MATLAB/SIMULINK and also provides a graphical user interface (GUI) in MATLAB for a convenient MPC design and tuning. The performance of GRAMPC is demonstrated by two examples from different technical fields. Additionally, some comparison results with established MPC software are provided.
Keywords :
C language; control engineering computing; control system synthesis; digital simulation; gradient methods; graphical user interfaces; mathematics computing; nonlinear control systems; predictive control; GUI; MATLAB-SIMULINK; MPC design; MPC tuning; gradient based nonlinear model predictive control software GRAMPC; graphical user interface; input constraints; plain C; real-time solution strategy; Graphical user interfaces; MATLAB; Real-time systems; Search problems; Trajectory;
Conference_Titel :
Control Conference (ECC), 2014 European
Conference_Location :
Strasbourg
Print_ISBN :
978-3-9524269-1-3
DOI :
10.1109/ECC.2014.6862353
