Model based Predictive Control

People in Group

This group is now lead by M. Kvasnica.

Former colleagues: A. Rusnák (STU, PhD 2003), U. Halldorsson (RU Bochum, D), M. Herceg (PhD 2009), A. Szűcs (PhD 2014).

Active Research - Explicit MPC

• Complexity reduction of explicit MPC using the concept of separating functions. We reduce the number of regions significantly if the controller has a large number of saturated regions. We store only unsaturated regions plus a simple function depending on state. If its sign is positive, control is on the upper constraint, if it is negative, control is on the lower constraint.
• Complexity reduction of explicit MPC using the concept of clipping. We reduce the number of regions significantly if the controller has a large number of saturated regions. These are overaproximated by adjacent unconstained regions and clipped afterwards. The advantage of the proposed scheme lies in faster controller evaluation and lower storage demand without any performance or stability degradation.
• Approximation of the optimal control law defined over state space regions by a higher degree polynomial which then guarantees closed- loop stability, constraint satisfaction, and a bounded performance decay using the concept of stability tubes. The advantage of the proposed scheme lies in faster controller evaluation and lower storage demand compared to currently available techniques.
• Modelling of fuzzy systems using PWA (Piecewise Affine) models. Based on this reprezentation, explicit MPC controllers can be designed and implemented. This has advantage of guaranteed theoretical properties like stability for the original model.

Journals

• Kvasnica, M., Hledík, J., Rauová, I., Fikar, M.: Complexity Reduction of Explicit Model Predictive Control via Separation. Automatica 49, 1776-1781, 2013. http://dx.doi.org/10.1016/j.automatica.2013.02.018 more
• Kvasnica, M., Fikar, M.: Clipping-Based Complexity Reduction in Explicit MPC. IEEE Transactions on Automatic Control, 57(7), 1878-1883, 2012. http://dx.doi.org/10.1109/TAC.2011.2179428 more
• Kvasnica, M., Löfberg, J., Fikar, M.: Stabilizing Polynomial Approximation of Explicit MPC. Automatica, 47 (10), 2011, 2292-2297. http://dx.doi.org/10.1016/j.automatica.2011.08.023. more
• Kvasnica, M., Herceg, M., Čirka, Ľ., Fikar, M.: Model Predictive Control of a CSTR: A Hybrid Modelling Approach. Chemical Papers, 64 (3), 301-301, 2010. more
• Herceg, M., Kvasnica, M., Fikar, M.: Minimum-time predictive control of a servo engine with deadzone. Control Engineering Practice, 11 (17), 1349-1357, 2009. more

Conferences

• Kvasnica, M., Gondhalekar, R., Fikar, M.: A hierarchical design methodology for implementing safety-critical constrained controllers with guaranteed stability and failure detection. IEEE Conference on Decision and Control, Maui, Hawaii, 1214–1219, 2012. more
• Kvasnica, M., Hledík, J., Fikar, M.: Reducing the Memory Footprint of Explicit MPC Solutions by Partial Selection. IEEE Conference on Decision and Control, Maui, Hawaii, 4537–4542, 2012. more
• Kvasnica, M., Gondhalekar, R., Szűcs, A., Fikar, M.: Stabilizing Refinement of Low-Complexity MPC Controllers. Preprints of 4th IFAC Nonlinear Model Predictive Control Conference, 400–405, 2012. more
• Szűcs, A., Kvasnica, M., Fikar, M.: Optimal Piecewise Affine Approximations of Nonlinear Functions Obtained from Measurements. 4th IFAC Conference on Analysis and Design of Hybrid Systems, Eindhoven, Netherlands, 160–165, 2012. more
• Szűcs, A., Kvasnica, M., Fikar, M.: A Memory-Efficient Representation of Explicit MPC Solutions. Proceedings of the 50th CDC and ECC, Orlando, Florida, 1916–1921, 2011. more
• Kvasnica, M., Rauová, I., Fikar, M.: Simplification of Explicit MPC Feedback Laws via Separation Functions. Preprints of the 18th IFAC World Congress Milano (Italy) August 28 - September 2, 2011, 5383–5388, 2011. more
• Rauová, I., Kvasnica, M., Fikar, M.: Separating Functions for Complexity Reduction of Explicit Model Predictive Control. Editors: Fikar, M., Kvasnica. M., Proceedings of the 18th International Conference on Process Control, Slovak University of Technology in Bratislava, Tatranská Lomnica, Slovakia, 427–433, 2011. more
• Kvasnica, M., Fikar, M.: Performance-Lossless Complexity Reduction in Explicit MPC. Proceedings of the 49th IEEE Conference on Decision and Control 2010, 5270–5275, 2010. more
• Kvasnica, M., Lofberg, J., Herceg, M., Čirka, Ľ., Fikar, M. Low-Complexity Polynomial Approximation of Explicit MPC via Linear Programming, American Control Conference, Baltimore, MD, USA June 30-July 02, 2010, FrA01.2, 4713-4718. more, best presentation award in section MPC1: presentation [PDF]
• Herceg, M., Kvasnica, M., Fikar, M., Čirka, Ľ.: Real-Time Control of a Thermo-Optical Device Using Polynomial Approximation of MPC Scheme. Editors: Fikar, M., Kvasnica, M., Proceedings of the 17th International Conference on Process Control ’09, Slovak University of Technology in Bratislava, Štrbské Pleso, Slovakia, 332–340, 2009. more
• Kvasnica, M., Herceg, M., Čirka, Ľ., Fikar, M.: Time-Optimal Control of Takagi-Sugeno Fuzzy Systems. V Proceedings of the 10th European Control Conference, Budapest, Hungary, str. 916–921, 2009. more
• Kvasnica, M., Christophersen, F. J., Herceg, M., Fikar, M.: Polynomial Approximation of Closed-form MPC for Piecewise Affine Systems. Proceedings of the 17th World Congress of the International Federation of Automatic Control, Seoul, Korea, 3877-3882, 2008. more
• Herceg, M., Kvasnica, M., Fikar, M.: Stabilization of an Inverted Pendulum via Fuzzy Explicit Predictive Control. Proceedings of the 8th International Scientific - Technical Conference Process Control 2008, University of Pardubice, Kouty nad Desnou, Czech Republic, C021_b-1 - C021_b-5, 2008. more
• Herceg, M., Kvasnica, M., Fikar, M.: Transformation of Fuzzy Takagi-Sugeno Models into Piecewise Affine Models. Proceedings of the International Conference on Rough Sets and Intelligent Systems Paradigms, Springer, Warsaw, Poland, LNAI 4585, 211-220, 2007. more

Reports

• Kvasnica, M., Fikar, M.: Performance-Lossless Complexity Reduction in Explicit MPC. Technical report 201001, Institute of Information Engineering, Automation, and Mathematics, 2010. more

Older Reseach Problems

• Multirate Predictive Control
• Predictive Control & Youla-Kucera Parametrisation
• Neural Network Predictive Control
• Generalised Predictive Control