Echtzeit-Implementierung von NMPC

Prädiktive Regelung für mechatronische Systeme unter Verwendung eines hybriden Modells

  • Stefan Löw
  • Dragan Obradovic Siemens


Nonlinear Model Predictive Control (NMPC) is an aspiring control method for the implementation of advanced controller behavior. The present work shows the symbolic math implementation of a mechatronic system model containing aerodynamic nonlinearities modeled by Feedforward Neural Networks. Gradients for the optimization are obtained efficiently by exploiting the feedforward property of the Neural Networks and symbolic computation. Current research on the implementation of damage metrics into the cost function is stated briefly. In order to achieve real-time capability, the method Real-time Iteration is used.


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LÖW, Stefan; OBRADOVIC, Dragan. Echtzeit-Implementierung von NMPC. atp magazin, [S.l.], v. 60, n. 08, p. 46-53, aug. 2018. ISSN 2364-3137. Verfügbar unter: <>. Date accessed: 20 apr. 2019. doi:
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