5 ms·

I had no idea this stuff existed. This sounds pretty exciting actually. Is it really that hard/complex to calculate MPC that it can't be stuck inside a loop th

I had no idea this stuff existed. This sounds pretty exciting actually. Is it really that hard/complex to calculate MPC that it can't be stuck inside a loop that runs at 1hz or less? Talking on decent generic or dedicated hardware. Some tiny SOC is a different story.

rland 5y ago
The difficulty with MPC is in the name -- Model predictive control. You need a model.
- pidtuner 5y ago
  https://pidtuner.com https://pidtuner.com can help with that
- lmilcin 5y ago
  The model need not be very complex. Think of it as first approximation. It is just, the better model you have, the faster you are going to achieve the result.
wenc 5y ago
MPC on chip was tried a decade ago [1]. It was based on the idea of parametric programming, where solutions of an optimization problem (a quadratic program, QP) were pre-computed and the control law essentially only involved doing lookups. Lookups were fast and avoided the computational cost of solving an optimization problem on-line. However, as you can imagine, pre-computing optimal solutions is of exponential complexity so scaling up this technique was difficult at the time. (I'm not sure what the state of the art is). Computation however has come a long way since, so today it might be possible to actually solve a decent sized quadratic program (QP) on chip at very frequencies in real-time. [1] https://www.sciencedirect.com/science/article/abs/pii/S0098135407000609 https://www.sciencedirect.com/science/article/abs/pii/S00981...