Robotics and Mechatronics

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Browsing Robotics and Mechatronics by Author "Heemels, Maurice"

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    MOBY-DIC: A MATLAB Toolbox for Circuit-Oriented Design of Explicit MPC
    (IFAC Proceedings Volumes, 2012-01-01) Oliveri, Alberto; Barcelli, Davide; Bemporad, Alberto; Genuit, Bart; Heemels, Maurice; Poggi, Tomaso; Rubagotti, Matteo; Storace, Marco; Alberto, Oliveri
    Abstract This paper describes a MATLAB Toolbox for the integrated design of Model Predictive Control (MPC) state-feedback control laws and the digital circuits implementing them. Explicit MPC laws can be designed using optimal and sub-optimal formulations, directly taking into account the specifications of the digital circuit implementing the control law (such as latency and size), together with the usual control specifications (stability, performance, constraint satisfaction). Tools for a-posteriori stability analysis of the closed-loop system, and for the simulation of the circuit in Simulink, are also included in the toolbox.