Performance Analysis of MPC for MIMO System in Presence of Hard Constraints

Abstract

MPC is an optimization control technique and it handles the constraints effectively in comparison to any other classical control technique. However, MPC is famous for slow dynamic SISO systems. In this research work, MPC performance is analyzed for a fast-dynamic MIMO system i-e rotors of quad copter to demonstrate the Roll, Pitch and Yaw movements in the presence of hard constraints. The simulations are done by first developing the system model of DC motor and then simulating it in Simulink. The results are presented for both SISO and MIMO systems at different set-points both in the absence and presence of hard constraints. The results have shown that MPC effectively regulates' the fast-dynamic MIMO system without violating the constraints.