• Opis: Prediktívne riadenie
• Prednášajúci: M. Kvasnica
• Jazyk: anglický

Topics

• Convex optimization problems
  • Convex functions (23 min)
  • Convex sets (33 min)
  • Linear programming (14 min)
  • Standard LP forms (33 min)
  • Minimization of piecewise affine functions (15 min)
  • Minimization of 2-norm (11 min)
  • YALMIP (19 min)
• MPC as a convex optimization problem
  • Prediction models (21 min)
  • Constraints (5 min)
  • Mathematical formulation (18 min)
  • Receding horizon implementation of MPC (4 min)
  • Sparse QP formulation of MPC (19 min)
  • Sparse QP formulation of MPC (ctd.) (28 min)
  • Dense QP formulation of MPC (42 min)
• Advanced MPC topics
  • Output regulation (29 min)
  • Reference tracking (49 min)
  • Trajectory preview (13 min)
  • Slew rate constraints (10 min)
  • Soft constraints (27 min)
  • Move blocking (32 min)
• Explicit MPC
  • Motivation and formulation (30 min)
  • Multi-parametric programming (45 min)
  • Solution properties (13 min)
  • Complexity of explicit MPC (18 min)
  • Binary search trees (23 min)
• Stability and feasibility of MPC
  • Motivating example (19 min)
  • Recursive feasibility (17 min)
  • Closed-loop stability (25 min)

Lectures

• Lecture 2: 27.02.2013, duration: 103 min
  • Convex functions (23 min)
  • Convex sets (33 min)
  • Linear programming (14 min)
  • Standard LP forms (33 min)
• Lecture 3: 06.03.2013, duration: 112 min
  • Minimization of piecewise affine functions (15 min)
  • Minimization of 2-norm (11 min)
  • YALMIP (19 min)
  • Prediction models (21 min)
  • Constraints (5 min)
  • Mathematical formulation (18 min)
  • Receding horizon implementation of MPC (4 min)
  • Sparse QP formulation of MPC (19 min)
• Lecture 4: 13.03.2013, duration: 99 min
  • Sparse QP formulation of MPC (ctd.) (28 min)
  • Dense QP formulation of MPC (42 min)
  • Output regulation (29 min)
• Lecture 5: 13.03.2013, duration: 99 min
  • Reference tracking (49 min)
  • Trajectory preview (13 min)
  • Slew rate constraints (10 min)
  • Soft constraints (27 min)
• Lecture 6: 27.03.2013, duration: 107 min
  • Move blocking (32 min)
  • Motivation and formulation (30 min)
  • Multi-parametric programming (45 min)
• Lecture 7: 10.04.2013, duration: 115 min
  • Solution properties (13 min)
  • Complexity of explicit MPC (18 min)
  • Binary search trees (23 min)
  • Motivating example (19 min)
  • Recursive feasibility (17 min)
  • Closed-loop stability (25 min)