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Efficient NMPC for nonlinear models with linear subsystems

R. Quirynen ; Sébastien Gros (Institutionen för signaler och system, Reglerteknik) ; M. Diehl
Conference on Decision and Control 2013 (2013)
[Konferensbidrag, refereegranskat]

Real-time optimal control algorithms for fast, mechatronic systems need to be run on embedded hardware and they need to respect tight timing constraints. When using nonlinear models, the simulation and generation of sensitivities forms a computationally demanding part of any algorithm. Automatic code generation of Implicit Runge-Kutta (IRK) methods has been shown to reduce its CPU time significantly. However, a typical model also shows a lot of structure that can be exploited in a rather elegant and efficient way. The focus of this paper is on nonlinear models with linear subsystems. With the proposed model formulation, the new auto generated integrators can be considered a powerful generalization of other solvers, e.g. those that support quadrature variables. A speedup of up to 5-10 is shown in the integration time for two examples from the literature.



Denna post skapades 2014-03-04. Senast ändrad 2014-03-04.
CPL Pubid: 194413

 

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Institutioner (Chalmers)

Institutionen för signaler och system, Reglerteknik

Ämnesområden

Elektroteknik och elektronik

Chalmers infrastruktur