Patent ID: 7197485
Filing Date: 2007-03-27
Classification: G05B,G06F

Abstract:
1. A method for solving a Model Predictive Control problem to control a plant including the steps of: a) forming a Large Sparse Matrix Equation, LSME, based upon the Model Predictive Control problem; b) repeatedly, at least once per controller update, sampling commands and feedback sensors to pose a determination of actuator commands in terms of a solution of a quadratic programming problem based upon model predictive control; c) forming a square root of H, Hr, where H is a submatrix of the LSME that varies only once per controller update and Hr is a block triangular matrix in which each block along a diagonal is triangular; d) forming a square root of a Large Sparse Matrix of the LSME, LSMroot, using Hr in each of a plurality of iterations of a quadratic programming solver within each controller update, and LSMroot is block triangular matrix in which each block along the diagonal is triangular; e) completing the solution of the LSME based upon LSMroot in each iteration; and f) outputting the plurality of actuator commands based upon the solution of the quadratic programming problem from the quadratic programming solver in each controller update to a plurality of actuators to control operation of a plant.