Course12710622584 lectures
Model Predictive Control: Theory and Applications
Prof. Niket Kaisare · IIT Madras
Lectures
Week 0
- Course Background: Model Predictive Control
- Course Outline
- Additional MATLAB Video - Array Operations
- Additional MATLAB Video - Array Operations
Week 1
- Recap: Linear Algebra
- Recap: Differential and Difference Equations
- Recap: Process Control Basics
- Introduction to Model Predictive Control
- MPC: Salient Features
- MPC: Historical Perspective
Week 2
- Vectors & Matrices
- Vector Spaces
- Linear Operation
- Null and Image Spaces
- Eigenvalues and Eigenvectors
- Eigenvalue Decomposition and Tutorial
Week 3
- Recap of Week-2
- Model Classification
- Discrete-Time Models Overview
- Discrete-Time Models
- Finite Impulse Response Models
- Finite Step Response Models
Week 4
- Recap and Plan for Week-4
- State Space and Step Response Models
- Nonlinear Models and Model Linearization
- Model Types and Model Conversion
- Model Conversion - 2
- Model Conversion: TF to SS
- How to handle MIMO systems
- Discretization of State-Space Models
Week 5
- Introduction to Dynamic Matrix Control (DMC)
- The DMC Algorithm: Future Predictions
- The DMC Algorithm: Objective & Constraints
- The DMC Algorithm: Optimization
Week 6
- Coding for DMC Algorithm: Setup
- Coding for DMC Algorithm: Populate Matrices
- Recap of DMC Algorithm
- Extensions of DMC Algorithm
Week 7
- LTI Models and Coordinate Transform
- LTI Models: Stability
- LTI Models: Controllability
- LTI Models: Conditions for controllability
- Tutorial by Arvind (Recap of Controllability)
- LTI Models: Observability
Week 8
- Linear Control: Introduction
- Pole Placement Controller
- Linear Quadratic Regulator: Batch Solution
- LQR: Dynamic Programming Solution
Week 9
- State Estimation: Introduction
- Stochastic Processes and Random Variables
- State Estimation: Pole Placement Observer
- Kalman Filter: Terminology
- Kalman Filter: Derivation
- Recap of Modules 7-9
Week 10
- Recap and Plan for this week
- Part-1. Linear Quadratic Gaussian
- Part-1. LQG Derivation and Separation Principle
- Part-2. Setpoint Tracking in LQ Control
- Part-2. Disturbance Rejection in LQ Control
- Part-3. Disturbance Modeling for Estimation
- Part-3: Estimation with Disturbance Modeling
Week 11
- Recap and Plan for this week.
- State-Space MPC: Deterministic case
- Extension to Measured Disturbances
- Offset-Free State Space MPC
- Comparison of State-Space MPC with DMC
- State-Space MPC: Disturbance Modeling
- Disturbance Modeling: Background and Setup
- Stochastic Output-Feedback State-Space MPC
- Bonus Video: Disturbance Modeling for State Space MPC
- Self-Guided Tutorial of MPC Toolbox
- Help Session: Using MPC Toolbox
Week 12
- Recap of LQ Control and Linear MPC
- Linear MPC - Key Features and Results
- Practical Issues: Inferential Control
- Practical Issues: Measurement Delay
- Other Practical Issues
- Some Classical Examples of MPC
Live Session
Syllabus and materials
At NPTEL, as the course publishes them.
Credits and licence
- Institution
- IIT Madras
- Department
- Multidisciplinary
- Teacher
- Prof. Niket Kaisare
- Level
- Undergraduate
- Language
- English
- Source
- NPTEL
- Licence
- CC BY-NC-SA, as NPTEL states it. Non-commercial use only. NPTEL's terms
- Attribution
- NPTEL states: "Distributed under Creative Commons Attribution-ShareAlike / CC BY - NC - SA", beside a BY-NC-SA badge.
- Who can watch
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