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—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.
Originele taal-2Engels
Plaats van productieEindhoven
UitgeverijEindhoven University of Technology
Aantal pagina's5
StatusGepubliceerd - 2013

Publicatie series

NaamCST
Volume2013.123

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