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Constrained model predictive control (CMPC) has been proved to be a successful tool in process industry. With its excellent tracking performance and natural ability in handling constraints, this technique now expands its applications to high band embedded systems. To make it more suitable for hardware implementation, this paper presents an effective online computation scheme for CMPC with interior...
The core computation load of a constrained model predictive control (MPC) problem with interior point method is to solve a linear equation during every iteration. According to the specific feature from problem formulation for constrained MPC, this paper proposed a recursive rank one updating matrix inversion algorithm for solving the linear equation. This algorithm is hardware implementation oriented...
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