@article{Hartley:2014:10.1109/TCST.2013.2271791,
author = {Hartley, EN and Jerez, JL and Suardi, A and Maciejowski, JM and Kerrigan, EC and Constantinides, GA},
doi = {10.1109/TCST.2013.2271791},
journal = {IEEE Transactions on Control Systems Technology},
pages = {1006--1017},
title = {Predictive control using an FPGA with application to aircraft control},
url = {http://dx.doi.org/10.1109/TCST.2013.2271791},
volume = {22},
year = {2014}
}

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TY  - JOUR
AB  - Alternative and more efficient computational methodscan extend the applicability of MPC to systems with tightreal-time requirements. This paper presents a “system-on-a-chip”MPC system, implemented on a field programmable gate array(FPGA), consisting of a sparse structure-exploiting primal dualinterior point (PDIP) QP solver for MPC reference tracking anda fast gradient QP solver for steady-state target calculation. Aparallel reduced precision iterative solver is used to accelerate thesolution of the set of linear equations forming the computationalbottleneck of the PDIP algorithm. A numerical study of the effectof reducing the number of iterations highlights the effectivenessof the approach. The system is demonstrated with an FPGA-inthe-looptestbench controlling a nonlinear simulation of a largeairliner. This study considers many more manipulated inputsthan any previous FPGA-based MPC implementation to date,yet the implementation comfortably fits into a mid-range FPGA,and the controller compares well in terms of solution quality andlatency to state-of-the-art QP solvers running on a standard PC.
AU  - Hartley,EN
AU  - Jerez,JL
AU  - Suardi,A
AU  - Maciejowski,JM
AU  - Kerrigan,EC
AU  - Constantinides,GA
DO  - 10.1109/TCST.2013.2271791
EP  - 1017
PY  - 2014///
SN  - 1558-0865
SP  - 1006
TI  - Predictive control using an FPGA with application to aircraft control
T2  - IEEE Transactions on Control Systems Technology
UR  - http://dx.doi.org/10.1109/TCST.2013.2271791
UR  - http://hdl.handle.net/10044/1/31062
VL  - 22
ER  - 

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