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

fYear

2014

fDate

24-27 June 2014

Firstpage

1170

Lastpage

1175

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 2014 European

Conference_Location

Strasbourg

Print_ISBN

978-3-9524269-1-3

Type

conf

DOI

10.1109/ECC.2014.6862353

Filename

6862353