Alberto Bemporad, IMT School for Advanced Studies Lucca
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Schedule and place

This 15-hour course will take place in 6 sessions over six days on November 6, 7, 8, 20, 21, 22, 2017.

Schedule : 2.5 hours/day

  • November 6 and 20: from 14:00 to 17:00 (including a 30-minute coffee break), room Prolog (05.128).
  • November 7, 8, 21, 22 : from 9:30 to 12:30, room C++ (05.01).

The course will take place at KUL, Department of Computer Science, Celestijnenlaan 200A, 3001 Heverlee.
For more details, see https://wms.cs.kuleuven.be/cs/english/about/directions


Model Predictive Control (MPC) is a well-established design technique for controlling multivariable systems subject to constraints on manipulated variables and controlled outputs in an optimized way. Following a long history of success in the process industries, in recent years MPC is rapidly expanding in several other domains, in particular in the automotive industry. The course aims at providing students with an in depth introduction to the fundamentals of model predictive control, covering the basic theoretical concepts and formulations of model predictive controllers for linear, linear time-varying, hybrid, stochastic and nonlinear dynamical systems, numerical solution methods for the implementation of MPC, together with a few application examples. The course will make use of the Model Predictive Control Toolbox for MATLAB (The Mathworks, Inc.) and the Hybrid Toolbox for MATLAB, developed by the lecturer over the past 20 years.

List of topics:

  • General concepts of MPC. Linear MPC formulation.
  • MPC computations: Quadratic programming, explicit MPC.
  • Hybrid dynamical models. Hybrid MPC based on mixed-integer optimization.
  • Linear parameter- and time-varying MPC and extensions to nonlinear MPC.
  • Stochastic MPC based on scenario enumeration.
  • Application examples and practical demonstration of MATLAB toolboxes

Prerequisites: Basic understanding of linear control theory and numerical optimization.

Course material

The material covered in the course is derived from the course “Model Predictive Control” held at IMT Lucca, see the course page (http://cse.lab.imtlucca.it/~bemporad/mpc_course.html) for a full set of slides and bibliographic references.

Slides : to follow.


To be discussed with the students at the beginning of the course.