Co-Design of a Controller and Its Digital Implementation: The MOBY-DIC2 Toolbox for Embedded Model Predictive Control Article Swipe
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· 2023
· Open Access
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· DOI: https://doi.org/10.1109/tcst.2023.3254133
Several software tools are available in the literature \nfor the design and embedded implementation of linear model \npredictive control (MPC), both in its implicit and explicit (either \nexact or approximate) forms. Most of them generate C code \nfor easy implementation on a microcontroller, and the others \ncan convert the C code into hardware description language \ncode for implementation on a field programmable gate array \n(FPGA). However, a unified tool allowing one to generate efficient \nembedded MPC for an FPGA, starting from the definition of the \nplant and its constraints, was still missing. The MOBY-DIC2 \ntoolbox described in this brief bridges this gap. To illustrate \nits functionalities, the tool is exploited to embed the controller \nand observer for a real buck power converter in an FPGA. This \nimplementation achieves a latency of about 30 μs with the implicit \ncontroller and 240 ns with the approximate explicit controller
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- https://doi.org/10.1109/tcst.2023.3254133
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