Model-Predictive-Control-SSY281

Repository for the course "Model Predictive Control" - SSY281 at Chalmers University of Technology

Assignment 1: Basic Control

Discrete state-space model
Controllabilty and observability analysis
Feedback design (LQR and Kalman filter)
Set-point tracking and disturbance rejection

Assignment 2: Linear QUadratic and Receding Horizon Control

Dynamic Programming solution of the LQ problem
Batch solution of the LQ problem
Receding horizon control
Constraint receding horizon control

Assignment 3: MPC Practice and Kalman Filter

Set-point tracking
Control of a chemical reactor

Assignment 4: Optimization basics and QP problems

Optimization Basics
QP Problems

Assignment 5: MPC Stability

Stability analysis

Assignment 6: Multi-Parametric-Toolbox (MPT) and Persistent Feasibility

MPT
Persistent feasibility

Assignment 7: Feasibility, alternative formulations of MPC

Linear MPC design
Linear MPC design with soft-constraints

Assignment 8: Finite Time Control

Explicit MPC and Finite Time Control