Time optimal MPC for mechatronic applications

Model predictive control (MPC) is an on-line control technique originally developed for slow processes which makes an assessment between input effort and output error while respecting constraints on inputs and outputs. Due to improved computing power and algorithms, MPC is nowadays also applied to mechatronic systems. For these systems, achieving minimal settling time is the main concern, while the input cost is usually of less importance. Hence, this paper presents a new type of MPC; time optimal MPC (TOMPC) which minimizes the settling time of the system. Theoretical considerations show that TOMPC is stabilizing. Simulations show the merits of this technique and indicate that it is applicable in real-time.