Implementation and experimental validation of classic MPC on Programmable Logic Controllers

Over the last years, a number of publications were written about Model Predictive Control (MPC) on industrial Programmable Logic Controllers (PLC). They focussed on explicit MPC strategies to provide a fast solution. When sufficient time is available to solve a classic MPC problem, an online solution to the corresponding Quadratic Problem (QP) can be provided. This paper investigates the use of an online quadratic programming solver to exploit MPC on a PLC. This will be illustrated with the classic Hildreth QP algorithm and qpOASES, a recently developed online active set strategy. These algorithms will be investigated on a MISO system.