Fixed-point on-chip implementation of the Goldfarb Active set method for Embedded Model Predictive Control

A.S. Simon, W.P.M.H. Heemels, A. Bemporad, S. Sopasakis

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Abstract

Abstract—The celebrated Active Set method proposed by Goldfarb for solving convex quadratic problems (QP) was implemented on-chip in fixed-point arithmetic. This implementation was tested on random QPs and using the standard benchmark system of oscillating masses for which I designed a feedback model predictive controller. The solution times were compared with the ones of the Dual Gradient Projection (DGP) algorithm, also implemented in fixed-point. The solution times of the Active Set algorithm were found to be lower, although no theoretical bounds on convergence are known.
Original languageEnglish
Place of PublicationEindhoven
PublisherEindhoven University of Technology
Number of pages5
Publication statusPublished - 2013

Publication series

NameCST
Volume2013.123

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