Scribd
Upload
231 views

MPC Questions

Model predictive control (MPC) is an advanced method of process control that uses dynamic models and optimization to predict process behavior and choose optimal inputs. It has constraints and optimizes over a finite time horizon, but only implements the current timeslot and then optimizes again. This allows it to anticipate events and take control actions accordingly. The main advantage of MPC is its ability to explicitly consider future implications of current actions and satisfy constraints, unlike PID, while also handling constraints unlike LQR.

Uploaded by

66umer66
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
231 views

MPC Questions

Model predictive control (MPC) is an advanced method of process control that uses dynamic models and optimization to predict process behavior and choose optimal inputs. It has constraints and optimizes over a finite time horizon, but only implements the current timeslot and then optimizes again. This allows it to anticipate events and take control actions accordingly. The main advantage of MPC is its ability to explicitly consider future implications of current actions and satisfy constraints, unlike PID, while also handling constraints unlike LQR.

Uploaded by

66umer66
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 4

Question 1: What is Model Predictive control (MPC)?

Answer:
Model predictive control (MPC) is an advanced method of process control that is used to control
a process while satisfying a set of constraints. It has been in use in the process industries
in chemical plants and oil refineries since the 1980s. In recent years it has also been used
in power system balancing models and in power electronics. Model predictive controllers rely on
dynamic models of the process, most often linear empirical models obtained by system
identification. The main advantage of MPC is the fact that it allows the current timeslot to be
optimized, while keeping future timeslots in account. This is achieved by optimizing a finite
time-horizon, but only implementing the current timeslot and then optimizing again, repeatedly.
Also MPC has the ability to anticipate future events and can take control actions accordingly.

Question 2: What are the main components of Model Predictive Control (MPC)?
Answer:
1. Dependence of action on Prediction
2. Model Based Prediction
3. Selecting the Current Input
4. Receding Horizon Control
5. Tuning
6. Handling the Constraints
7. Optimal and Safe Performance
8. Control Design for MIMO Systems

Question 3: What is prediction horizon and control horizon in MPC?


Answer:
Prediction horizon: dictates how ‘far’ we wish the future to be predicted for. Whereas control
horizon refers how far the control signal can be affected or modified based on predictions.

Question 4: What is the main advantage of MPC over PID and LQR?
Answer:
PID (proportional, integral and derivative), do not explicitly consider the future implication of
current control actions. MPC on the other hand explicitly computes the predicted behavior over
some horizon. This Prediction is invaluable for avoiding otherwise unforeseen disaster. Whereas
LQR is unable to handle constraints like MPC.

Question 5: Why the process needs some model for the prediction?
Answer: In order to predict the future behavior of a process, we must have a model of how the
process behaves. In particular, this model must show the dependence of the output on the current
measured variable and the current/future inputs.

Question 6: Define Constraints?


Answer:
Constraints are conditions that we need to happen or would like to happen with a design. Each
constraint defines a subset of all possible designs in which it is satisfied. The constraints may
occur on any variables in the any loop. So desire is that none of the constraints are violated by
the optimal predictions. Hence the normal procedure is to compare the predictions with the
constraints over the horizons in the performance index.

Question 7: What are different types of Constraints in MPC?


Answer:
1 Hard Constraints: Hard constraints are constraints which must be satisfied. For instance, they
may be limits on actuators or or on valves open.
2 Soft Constraints: Soft constraints are those which should be satisfied if possible. For instance,
there may be temperature or pressure limitations to prevent fatigue damage to equipment or to
ensure quality.
3 Terminal Constraints: These are somewhat artificial in that they arise from the control
algorithm. These are based on dual mode algorithm.

Question 8: What are different variants of MPC available in MATLAB?


1. Implicit MPC.
Involves Online computation of optimal control signal.
2. Explicit MPC.
Do not involve online computation of optimal signal. Takes less time as compared to Implicit
MPC.
3. Multiple MPC.
Suitable for nonlinear systems. Consist of more than one MPCs, each defined for different
operating points. Switching signal is used to select one MPC at a time.
4. Multiple Explicit MPC.
Same as multiple MPC but it has explicit MPCs instead to be defined for different operating
conditions.

5. Adaptive MPC.
It involves run time state estimation and upgradation of plant model to be used for prediction.
Suitable for nonlinear and time varying systems.

Question 9: Applications of MPC?


Oil refineries
Pulp and paper
Robotics
Washing machines
Engine Controllers
Aircraft control
Spacecraft formation and attitude control
Power generation
Computational Biology

Question 10: How can MPC be useful in robotics?


Answer:
In the field of robotics, model predictive control is considered as a promising control strategy
due to its inherent ability to handle nonlinear systems with multi-dimensional state spaces and
constraints.

Question 11: Literature of Model Predictive Control in Aerial Robotics?


Answer:
Model Predictive Quadrotor Control: Attitude, Altitude and Position
Explicit Model Predictive Control Navigation Strategies for Fixed–Wing UAV Path Tracking
Robust Model Predictive Flight Control of Unmanned Rotorcrafts
Hybrid Predictive Control for Aerial Robotic Physical Interaction towards Inspection Operations.
Question 12: Explain Receding horizon control (MPC) with self-driving/robotic car?

● Prediction model is what describes how the vehicle is expected to move on the map.
● System Constraints is the set of rules to drive on roads, respect one-ways, don't exceed
mechanical capacities of the vehicle.
● Disturbances are the driver's inattention and other reasons for uncontrolled deviation
from the desired trajectory.
● Set point is the desired location.
● Cost Function may be the goal of minimum time, minimum distance etc.
Question 13: Differences between MPC and LQR?
1. LQR optimizes in a fixed time window (horizon) whereas MPC optimizes in a receding time
window.
2. LQR for the whole time horizon uses the single (optimal) solution whereas MPC uses
multiple.
3. MPC makes no assumptions about linearity, it can handle hard constraints as well as migration
of nonlinear systems away from its linearized operating point, both of which are downsides of
LQR.
Question 14: MPC other names?
DMC=Dynamical Matrix Control
GPC=Generalized Predictive Control
RHC=Receding Horizon Control
Question 15: MPC VS Conventional Control?
• Equivalent performance can be obtained with other simple control techniques like PID
+anti-windup. However MPC allows (in principle) UNIFORMITY i.e. same technique
for wide range of problems.
• Reduce training
• Reduce cost
• Easier design maintenance

You might also like