A co-processor FPGA platform for the implementation of real-time model predictive control

In order to effectively control nonlinear and multivariable models, and to incorporate constraints on system states, inputs and outputs (bounds, rate of change), a suitable (sometimes necessary) controller is Model Predictive Control (MPC). MPC is an optimization-based control scheme that requires abundant matrix operations for the calculation of the optimal control moves. In this work we propose a mixed software and hardware embedded MPC implementation. Using a codesign step and based on profiling results, we decompose the optimization algorithm into two parts: one that fits into a host processor and one that fits into a custom made unit, that performs the computationally demanding arithmetic operations. The profiling results and information on the co-processor design are provided.