Design and Realization of Embedded Model Predictive Controller with Software Support

Abstract

The aim of this paper is to describe the design and future realization of a new embedded model predictive controller (MPC) for a small and medium enterprise. This research was driven by a need of small and medium sized companies, because the professional commercial solutions of MPC controllers are very expensive and with limited use on the PLC. The goal of the work is to implement MPC to the PLC by using open source software packages, quadratic programming solver qpOASES and linear algebra library Armadillo. The second requirement is to create a simple, comfortable and user-friendly interface. The created solution will be tested and used for a control of a small industrial incineration power plant.