Model Predictive Control 5 - Introducing constraints into predictive control

A brief discussion of how constraint handling is deployed within a DMC algorithm. This video does not include MATLAB code as the required coding is so similar to GPC.

Constrained Predictive Control 11 - simple implementation for dual-mode with tracking

Apr 28th, 2014 14m 44s

This video shows that constraint handling can utilise an equivalent technique to GPC, that is, simply compute the predictions explicitly and compare them to constraints over a long enough horizon. This approach is easy to code, easily allows ti

Constrained Predictive Control 15 - comparison of dual-mode approaches with time varying targets

Apr 28th, 2014 10m 33s

A summary of the procedure for handling constraints in a dual-mode algorithm along with a few elementary comparisons of the three different methods discussed.

Constrained Predictive Control 14 - efficient admissible set algorithms for dual-mode with time varying targets

Apr 28th, 2014 18m 18s

This chapter finishes by introducing more efficient admissible set approaches. This video shows how one can use a slightly different iteration within the admissible set algorithm and this enables much faster convergence and also a sensible proc

Constrained Predictive Control 10 - dual-mode approaches with non-zero targets

Apr 28th, 2014 15m 32s

Shows how the computation of admissible sets for ensuring predictions meet constraints can be extended to the non-zero target for scenario. This video deploys deviation variables and thus reduces the problem to an equivalent regulation problem.

Constrained Predictive Control 13 - MCAS for dual-mode with time varying targets

Apr 28th, 2014 13m 13s

This video shows how one can construct an admissible set for dual-mode algorithms which have time varying targets (notionally admissible sets assume a constant target). This video is more conceptual and hence uses an inefficient solver, but MAT

Constrained Predictive Control 8 - invariant sets

Apr 28th, 2014 19m 21s

Introduces the concept of an admissible set as a tractable means of testing constraint satisfaction for predictions which evolve over an infinite horizon. Demonstrates elementary, albeit inefficient, code for determining these sets. Shows that

Constrained Predictive Control 9 - dual-mode approaches - the regulation case

Apr 28th, 2014 16m 14s

Shows how admissible set algorithms can be applied to the OMPC/SOMPC algorithms in order to ensure the predictions satsify constraints using a finite number of inequalities. Focus is on the regulation case. MATLAB code is included to demonstrat

Constrained Predictive Control 12 - reachable targets for dual-mode approaches

Apr 28th, 2014 9m 2s

This video is somewhat of an aside. Dual-mode approaches assume the predictions converge to a specified steady-state which is linked to the target and disturbance. Therefore, it is necessary that the steady-state is reachable within the constra

Constrained Predictive Control 4 - GPC simulations

Apr 28th, 2014 16m 8s

Defines the constrained GPC algorithm and then introduces and demonstrates code for implementing a constrained GPC algorithm. Provides numerous examples to illustrate how deploying systematic constraint handling affects performance. Code availa

Constrained Predictive Control 2 - quadratic programming optimisations

Apr 28th, 2014 13m 54s

Gives a brief overview of a quadratic programming optimisation, explaining in pictorial terms what the problem looks like and hence how linear constraints give rise to different solutions. Emphasises how the unconstrained optimal could be far a

Constrained Predictive Control 3 - including constraints into GPC

Apr 28th, 2014 19m 40s

Introduces the common constraints of input rates, input limits and output limits. Shows how these can be applied to the predictions within a simple GPC control law and in particular, how all the constraints from each sample can be concatenated

Constrained Predictive Control 5 - constrained GPC with a T-filter

Apr 28th, 2014 11m 1s

Shows how constraint handling differs when a T-filter is deployed. Uses MATLAB demonstrations to illustrate the impact and in particular shows that the changes to sensitivity noted in the earlier chapters seem to carry across. Code available on

Constrained Predictive Control 7 - constraints with independent model GPC

Apr 28th, 2014 13m 11s

Using an independent model for prediction gives rise to different prediction equations which thus affects the performance index and constraint inequalities. This video gives the details for a a transfer function based GPC algorithm and also dem

Constrained Predictive Control 1 - Introduction

Apr 28th, 2014 17m

Gives an overview of what constraints might be and a simple heuristic explanation of their importance. Gives several examples of how a failure to take systematic account of constraints can cause nominal control strategies either to fail entirel

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