Teaching
EPFL
Model Predictive Control (ME-425)

Model Predictive Control (ME-425)

Diagram of the model predictive control principle
MPC principle

I was a teaching assistant for this Master course at EPFL.

About the course

An introduction to the theory and practice of Model Predictive Control (MPC). MPC lets you specify time-domain objectives flexibly, optimise the performance of complex multivariable systems, and enforce constraints on the system’s behaviour explicitly.

Topics

  • Convex optimisation and the optimal control theory MPC builds on
  • Receding-horizon control of constrained linear systems
  • Practical issues: tracking and offset-free control of constrained systems
  • Theoretical properties: constraint satisfaction, invariant sets, stability of MPC
  • An introduction to advanced topics in predictive control
  • A simulation-based project giving hands-on experience with MPC

Course description in the EPFL coursebook · Figure: MathWorks