Publication

A Multidisciplinary Approach for Model Predictive Control Education: A Lego Mindstorms NXT-based Framework

Simone Casale Brunet
2014
Journal Articles

Abstract

This work introduces an educational framework based on the Lego Mindstorms NXT robotic platform used to outline both the theoretical and practical aspects of the Model Predictive Control (MPC) theory. The framework has been developed in the widely used MatLab/Simulink environment. A two-wheeled inverted pendulum is considered as hands-on experimental scenario. For such a system, starting from its mathematical modeling, an established design methodology is presented aiming to outline step-by-step the predictive controller implementation on a low power architecture. This methodology stress the design of a non-linear MPC controller on a low power embedded system, pruning the designer to deal with hard real time constraints without impacting the overall design requirements. The effectiveness of this multidisciplinary approach is shown through this presentation and demonstrated with experimental results.

Official source

https://infoscience.epfl.ch/entities/publication/fa5f9b9a-337e-4749-ac5b-a71c8960f478

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Simone Casale Brunet
2014
Journal Articles

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/fa5f9b9a-337e-4749-ac5b-a71c8960f478

About this result

Related concepts (32)

Model predictive control

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.

Requirement

In product development and process optimization, a requirement is a singular documented physical or functional need that a particular design, product or process aims to satisfy. It is commonly used in a formal sense in engineering design, including for example in systems engineering, software engineering, or enterprise engineering. It is a broad concept that could speak to any necessary (or sometimes desired) function, attribute, capability, characteristic, or quality of a system for it to have value and utility to a customer, organization, internal user, or other stakeholder.

Requirements analysis

In systems engineering and software engineering, requirements analysis focuses on the tasks that determine the needs or conditions to meet the new or altered product or project, taking account of the possibly conflicting requirements of the various stakeholders, analyzing, documenting, validating and managing software or system requirements. Requirements analysis is critical to the success or failure of a systems or software project.cite book |editor1= Alain Abran |editor2=James W.

Related publications (32)

A Multidisciplinary Approach for Model Predictive Control Education: A Lego Mindstorms NXT-based Framework

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