International Graduate School on Control | Model Predictive Control: From Theory to Applications Through Numerical Methods

Model predictive control (MPC) is an optimization-based control approach that enables the control of complex nonlinear systems while optimizing a given performance criterion and imposing constraints both on the states and the control inputs of the system. While these advantages are compelling, the main drawbacks are the computational burden which can hinder real-time feasibility, and the fact that asymptotic stability and constraint satisfaction at all future times are not a direct consequence of optimality. A successful practical implementation therefore requires one to carefully formulate the MPC scheme. This course blends together theory and practice, with the aim of providing the students with the tools that are necessary for designing MPC controllers in practice. On the theoretical side, we will discuss: (i) the theory behind asymptotic stability and recursive feasibility; (ii) the algorithms enabling real-time solvability of the optimization problem; (iii) the combination of MPC with learning algorithms. On the practical side, we will provide several examples of practical implementations, with emphasis on autonomous driving, which will be used to discuss how seemingly abstract theory can be applied to real-world cases. Furthermore, we will provide some hands-on advice on how to design the MPC controller, e.g., how to obtain the desired closed-loop behavior by suitable design of the cost, how to handle perturbations by careful constraint definition, etc.

Topics:
- MPC formulation: stability and recursive feasibility 
- Optimization: theory, algorithms and their practical implications 
- MPC design: tuning, modelling, tricks 
- Advanced topics: learning and MPC
- Applications with a focus on autonomous driving

TIMETABLE
Monday, February 2: 14.30-18 (16.00-16.30 coffee-break) 
Tuesday, February 3: 9.30-13 and 15-17 (11.00-11.30 coffee-break)
Wednesday, February 4: 9.30-13 and 15-17 (11.00-11.30 coffee-break)
Thursday, February 5: 9.30-13 and 15-17 (11.00-11.30 coffee-break)
Friday, February 6: 9.30-13 (11.00-11.30 coffee-break)