This is a compact sub-millisecond Constrained (linear) Model Predictive Control (MPC) library for Teensy4.0/Arduino system (or real time embedded system in general). To recap, the MPC formula ...

After that, you only need to initialize the MPC class, set the non-zero initialization matrix by calling MPC::vReInit(A, B, C, weightQ, weightR) function at initialization, and call the function ...

This problem can cause undesired result when used to control fast dynamic system such as BLDC motors. To overcome this problem, an iterative algorithm of Algorithm-3 is used as a fast QP computation ...

Model Predictive Control (MPC) is a control scheme that involves predicting the future behavior of a system and optimizing control actions to accomplish the desired objective. In this study, we ...