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FPGA Implementation of a Predictive Controller


J.L. Jerez

SIAM Conference on Optimization, Darmstadt, Germany

Predictive control is an advanced control technique that relies on the solution of a convex QP at every sample instant. In order to apply predictive control at faster sampling rates, there is a need for faster methods for solving the optimization problems. We present an FPGA implementation of an interior-point solver, which provides substantial acceleration over a sequential CPU implementation. In addition, the proposed architecture possesses special features that increase the potential performance benefit by an extra order of magnitude.


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