Exercises in SCE4106 Model Predictive Control |
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A new exercise is given every week. Week 35 Exercise 1 (pdf-file) Solutions:. See ex's 5.1-5.2 p 37-38 MATLAB m-files: Task 1: main_ex1b.m , Task 2: main_ex1_task2b.m Week 35-36 Exercise 2 (ps-file) Exercise 2 (pdf-file) Solutions: main_ex2b.m An alternative solution: main_exercise2.m Week 36 -37 Exercise 3 (ps-file) Exercise 3 (pdf-file) Solutions: main_ex3.m Solution proposal using scmat, q2qt and ss2h m-file functions: mpc_exercise3_task1.m Week 37-38 Exercise 4 (ps-file) Exercise 4 (pdf-file) Solutions: losn_ov1_mpc.m main_ex46.m Simple active set implementation of a QP problem with inequality constraints: qpsol1.m Qpsol1 can be used as an alternative to quadprog in the MATLAB optimization toolbox. Week 38-39 Exercise 5 (ps-file) Exercise 5 (pdf-file) Matlab solution m-files for Exercise 5, task 5: main_task5.m grad_ex5.m hess_ex5.m Week 39-40 Work with the examples in MPC algorithm with integral action. Implement MPC algorithm. Work with Exercise 5 and 5b below. Se also Exercises 1-4. Work with Lecture Notes. Read Ch. 4 in the Lecture notes about "Reducing the number of unknown control variables in the MPC problem". Exercise 5b Modify task 1 in exercise 2 in order to use the reduced MPC control strategy, i.e., unly the actual control, u_k, is computed. Solution in: main_ex_ch4a.m Week 40 MPC of systems with time delay. Simple integrator example with time delay and MPC compared with conventional PI control. exercise_integrator_mpc.pdf Some preliminary m-file implementations: main_integrator_mpc.m Se also: ss4delay.m and ss2aug4delay.m Function to find LQ optimal controller for comparison purposes: dlqdu_pi.m Week 41 Work with 5 exercise project. Week 42-45 Exercise 6 (ps-file) Exercise 6 (pdf-file) Solution proposal: main_exercise6_mpc.m Some useful MATLAB m-file functions: q2qt.m eobsv.m ss2h.m scmat.m prbs1.m Week 45-46 Exercise 7 (pdf) Exercise 7 (ps-file) (MPC of a MIMO system). Solution proposal: main_exercise7_mpc.m Function to make binary reference signals: prbs1.m Week 47 1. Work with MPC implementation of Example 1 and Example 3 in the paper "Model Predictive Control with Integral Action". Check different methods for estomating/computing the present state, x_k. Function to compute the reversed controllability matrix. rctrb2.m Week 48 Exercise 8 Extend the MPC algorithm to control the chemical reactor in exercise 6 but where the output is delayed tau=4 samples. The following m-file may be used as a starting point of solving Exercise 8: main_exercise8_mpc.m |
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