Recent Advances in Embedded Model Predictive Control

Date: 
Tuesday, December 6, 2016 - 3:30pm
Location: 
3110 Etcheverry Hall
Speaker: 
Professor Alberto Bemporad

Professor of Control Systems

IMT Institute for Advanced Studies Lucca

About: 

Model Predictive Control (MPC) is one of the most successful techniques adopted in industry to control multivariable systems in an optimized way under constraints on input and output variables. In MPC, the manipulated inputs are computed in real time by solving a mathematical programming problem, most frequently a Quadratic Program (QP). The QP depends on a model of the dynamics of the system, that is often learned from experimental data. To adopt MPC in embedded control systems under fast sampling and limited CPU and memory resources, one must be able to solve QP's with high throughput, using simple code and executing arithmetic operations under limited machine precision, and to provide tight estimates of execution time. In my talk I will present recent developments in quadratic optimization and system identification tailored to embedded MPC.

 

Biography:

Alberto Bemporad received his master's degree in Electrical Engineering in 1993 and his Ph.D. in Control Engineering in 1997 from the University of Florence, Italy. In 1996/97 he was with the Center for Robotics and Automation, Department of Systems Science & Mathematics, Washington University, St. Louis. In 1997-1999 he held a postdoctoral position at the Automatic Control Laboratory, ETH Zurich, Switzerland, where he collaborated as a senior researcher until 2002. In 1999-2009 he was with the Department of Information Engineering of the University of Siena, Italy, becoming an associate professor in 2005. In 2010-2011 he was with the Department of Mechanical and Structural Engineering of the University of Trento, Italy. Since 2011 he is full professor at the IMT Institute for Advanced Studies Lucca, Italy, where he served as the director of the institute in 2012-2015. He spent visiting periods at the University of Michigan and Zhejiang University. In 2011 he cofounded ODYS S.r.l., a consulting and software development company specialized in advanced controls and embedded optimization algorithms. He has published more than 300 papers in the areas of model predictive control, automotive control, hybrid systems, multiparametric optimization, computational geometry, robotics, and finance. He is author or coauthor of various MATLAB toolboxes for model predictive control design, including the Model Predictive Control Toolbox (The Mathworks, Inc.), the Hybrid Toolbox, the MPCTool and MPCSofT toolboxes developed for the European Space Agency, and other MPC toolboxes tailored to industrial production. He was an Associate Editor of the IEEE Transactions on Automatic Control during 2001-2004 and Chair of the Technical Committee on Hybrid Systems of the IEEE Control Systems Society in 2002-2010. He received the IFAC High-Impact Paper Award for the 2011-14 triennial. He has been an IEEE Fellow since 2010.

 

Hosted by: Professor Francesco Borrelli, 5132 Etcheverry Hall, 510-643-3871fborrelli@me.berkeley.edu