Predictive Control
- analyze properties of discrete-time linear systems in state-space form
- compute optimal open-loop controls for state transfer using linear and quadratic programming
- use dynamic programming to design state estimators and linear controllers that minimize a quadratic cost criterion in the states and controls (LQG-optimal controllers)
- understand the receding-horizon idea and how MPC extends LQG-optimal control to deal with state and control constraints
- design MPC controllers for engeinering systems, making effective use of its tuning parameters to meet closed-loop performance targets
- have a basic understanding of stability properties of MPC controllers
- know how MPC can be implemented as either an nonlinear control law or using on-line optimization