MODEL PREDICTIVE CONTROL

(MPC)

BY
G. VENKATA SAI KRISHNA , VIPIN GAONKAR DATE:14/6/2022
 Introduction

 Predictive control comprises a very wide family of controllers with very different
approaches.
 The common ideas behind all predictive control are the use of a model of the system for
calculating predictions of the future behavior of the controlled variables, and the use of
an optimization criterion for selecting the proper actuation.
 A very powerful predictive control strategy that has been applied in industry is model
predictive control (MPC)
 The requirements, constraints, and control challenges in control of
system are :

 Provide the smallest possible error in the controlled variables, with fast dynamics for reference
following and disturbance rejection.
 Operate the system in such a way that system losses are minimized. This requirement leads to
increased efficiency and better utilization of the devices used in a system.
 For example if we consider a power electronics system, THD is kept minimal, EMI, EMC of
the system could be set in limits.
 Due to the nonlinear nature of power converters, good performance for a wide range of
operating conditions is difficult to achieve.
 Industrial Loads are nonlinear systems of a hybrid nature, including linear and nonlinear parts
and a finite number of switching devices.
Predictive Control
 The main characteristic of predictive
control is the use of a model of the
system for predicting the future
behavior of the controlled variables.

This information is used by the

controller to obtain the optimal
What is actuation, according to a predefined
MPC? optimization criterion.

The optimization criterion in model

predictive control (MPC), is expressed
as a cost function to be minimized.
  Can be applied to linear and non-linear
systems directly.
 Easy implementation of univariable and
multi-variable systems.
 Ability to include constraints and cost
minimization concepts are very intuitive and
easy to understand.
 It can be applied to a great variety of systems.
Advantages of  The multivariable case can be easily
MPC considered.
 Dead times can be compensated.
 Easy inclusion of non-linearities in the
model.
 Simple treatment of constraints.
 The resulting controller is easy to implement
Concept of
MPC
Continue…

 The main characteristic of predictive control is the use of a model of the system
for predicting the future behavior of the controlled variables.
 This information is used by the controller to obtain the optimal actuation,
according to a predefined optimization criterion.
 The optimization criterion in MPC is the cost function minimization.
 Using predictive control, it is possible to avoid the cascaded structure which is
typically used in a linear control scheme, obtaining very fast transient responses.
Continue…

 Nonlinearities in the system can be included in the model, avoiding the need to
linearize the model for a given operating point, and improving the operation of
the system for all conditions.
 It is also possible to include restrictions on some variables when designing the
controller. These advantages can be very easily implemented in control schemes,
such as MPC,
 MPC uses a model of the system to predict the future behavior of the variables
until a predefined horizon in time, and selection of the optimal actuation by
minimizing a cost function.
 Disadvantages of MPC is the larger number of calculations.
 The basic ideas present in MPC
 The use of a model to predict the future behavior of the variables
until a horizon in time.
 A cost function that represents the desired behaviour of the system.
 The optimal actuation is obtained by minimizing the cost function.
 The model used for prediction is a discrete-time model which can
be expressed as a state space model as follows:
x(k + 1) = Ax(k) + Bu(k) • y(k) = Cx(k) + Du(k)
 A is the system matrix. ... B and C are the input and the output
matrices. D is the feed-forward matrix.
 A cost function that represents the desired behaviour of the system
needs to be defined.
 This function considers the references, future states, and future
actuations:
 J = f (x(k), u(k), . . . , u(k + N))
 MPC is an optimization problem that consists of minimizing the cost
function J, for a predefined horizon in time N, subject to the model of the
system and the restrictions of the system. The result is a sequence of N
optimal actuation. The controller will apply only the first element of the
sequence.
 u(k) = [1 0 · · · 0]argminuJ
 The future values of the states of the system are predicted until a
predefined horizon in time k + N using the system model and the
available information (measurements) until time k.
Model Predictive Control for Power
Electronics and Drives

 MPC includes a very wide family of controllers and several

different implementations have been proposed.
 The implementation of MPC in a real system considering the short
time available for calculations due to the fast sampling proposes
optimization problems offline considering the system model,
constraints, and objectives, resulting in a look-up table containing
the optimal solution as a function of the state of the system. This is
Explicit MPC.
 Explicit MPC has been applied for the control of power converters
such as DC-DC converters and three-phase inverters.
 Most Generalized predictive control(GPC) and explicit MPC
schemes approximate the model of the power converter as a linear
system by using a modulator.
 This approximation simplifies the optimization and allows the
calculation of an explicit control law, avoiding the need for online
optimization.
 Considering the finite number of switching states, and the fast
microprocessors available today, calculation of the optimal
actuation by online evaluation of each switching state is possible.
 As the switching states of the power converters allow a finite
number of possible actuations, this approach is called finite control
set MPC.
Controller Design of Finite control set
MPC

 Design stage of finite control set MPC for the control of a power
converter, the following steps are identified:
 Modeling of the power converter identifying all possible switching
states and its relation to the input or output voltages or currents.
 Defining a cost function that represents the desired behavior of the
system.
 Obtaining discrete-time models that allow one to predict the future
behavior of the variables to be controlled.
 As a general rule, the number of possible switching states N is
N = 𝑥 𝑦 , where x is the number of possible states of each leg
of the converter, and y is the number of phases (or legs) of the
converter.
 Three-phase, two-level converter has N = 2 3= 8 possible
switching states, a three-phase, three-level converter has N =
3^3= 27 switching states, and a five-phase, two-level
converter has N = 2^5= 32 switching states.
 Each different application imposes several control requirements on
the systems such as current control, torque control, power control,
low switching frequency, etc.
 These requirements can be expressed as a cost function to be
minimized.
 The most basic cost function to be defined is some measure of error
between a reference and a predicted variable
 To select the switching state which minimizes the cost function, all possible states
are evaluated and the optimal value is stored to be applied next.
 The number of calculations is directly related to the number of possible switching
states.
 Each different application imposes several control requirements on the systems such
as current control, torque control, power control, low switching frequency, etc.
 These requirements can be expressed as a cost function to be minimized.
 The most basic cost function to be defined is some measure of error between a
reference and a predicted variable, for example, load current error, power error,
torque error etc.
“
Thank you