Conference paper
High-performance small-scale solvers for linear Model Predictive Control
Department of Applied Mathematics and Computer Science, Technical University of Denmark1
Scientific Computing, Department of Applied Mathematics and Computer Science, Technical University of Denmark2
Technical University of Denmark3
Center for Energy Resources Engineering, Centers, Technical University of Denmark4
CITIES - Centre for IT-Intelligent Energy Systems, Centers, Technical University of Denmark5
In Model Predictive Control (MPC), an optimization problem needs to be solved at each sampling time, and this has traditionally limited use of MPC to systems with slow dynamic. In recent years, there has been an increasing interest in the area of fast small-scale solvers for linear MPC, with the two main research areas of explicit MPC and tailored on-line MPC.
State-of-the-art solvers in this second class can outperform optimized linear-algebra libraries (BLAS) only for very small problems, and do not explicitly exploit the hardware capabilities, relying on compilers for that. This approach can attain only a small fraction of the peak performance on modern processors.
In our paper, we combine high-performance computing techniques with tailored solvers for MPC, and use the specific instruction sets of the target architectures. The resulting software (called HPMPC) can solve linear MPC problems 2 to 8 times faster than the current state-of-the-art solver for this class of problems, and the high-performance is maintained for MPC problems with up to a few hundred states.
Language: | English |
---|---|
Publisher: | IEEE |
Year: | 2014 |
Pages: | 128-133 |
Proceedings: | 13th European Control Conference (ECC) 2014European Control Conference |
ISBN: | 1479947288 , 3952426911 , 9781479947287 and 9783952426913 |
Types: | Conference paper |
DOI: | 10.1109/ECC.2014.6862490 |
ORCIDs: | Dammann, Bernd and Jørgensen, John Bagterp |
IP networks Kernel Libraries Matrices Power, Energy and Industry Applications Program processors Registers Robotics and Control Systems Signal Processing and Analysis Transportation Vectors control engineering computing high-performance computing technique high-performance small-scale solvers linear MPC linear algebra linear model predictive control optimisation optimization problem optimized linear-algebra libraries parallel processing predictive control state-of-the-art solvers