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1. What is MPC?
Definition
MPC is a control technique that optimizes a system’s performance by predicting future behavior and adjusting actions accordingly.
- Relies on a dynamic model of the system.
- Solves an optimization problem at each step.
Challenges in Control
- System constraints (speed limits, temp ranges).
- Dynamic environments.
- Need for future anticipation.
MPC Solutions
- Optimization over a prediction horizon.
- Explicit constraint handling.
- Adaptability to changes.
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2. The Inverted Pendulum
Why is this an MPC Problem?
- Inherently Unstable: Requires continuous adjustment to maintain balance.
- Prediction: MPC predicts how the pendulum will move and adjusts force.
- Constraints: Torque limits and track length can be incorporated.
Analogy: Balancing a stick on your hand while predicting future tilts!
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3. Real-Life Applications
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Autonomous Vehicles
Path planning, obstacle avoidance, dynamic traffic.
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Process Control
Chemical production, temperature/pressure regulation.
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Robotics & Drones
Stable motion planning, path following.
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4. Learn More (Videos)
Understanding MPC
MPC in Action
Advanced MPC Concepts
MPC for Robotics
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