Table of Contents

• Introduction
  • Model predictive control
  • History of Model Predictive Control
• The basics of model predictive control
• Introduction
• Process model and disturbance model
• Performance index
• Constraints
• Optimization
• Receding horizon principle
• Prediction
  • Noiseless case
  • Noisy case
  • The use of a priori knowledge in making predictions
• Standard formulation
  • The performance index
  • Handling constraints
  • The standard predictive control problem
  • Examples
• Solving the standard predictive control problem
  • Steady-state behaviour
  • The finite horizon SPCP
  • Infinite horizon SPCP
  • Implementation
  • Feasibility
  • Examples
• Stability
  • Stability for the LTI case
  • Inequality constrained case
  • Modifications for guaranteed stability
  • Relation to IMC scheme and Youla parametrization
  • Robustness
• MPC using a feedback law, based on linear matrix inequalities
  • Linear matrix inequalities
  • Unconstrained MPC using linear matrix inequalities
  • Constrained MPC using linear matrix inequalities
• Tuning
  • Initial settings for the parameters