An Embedded FPGA Architecture for Real-Time Model Predictive Control

Abstract

We develop a custom hardware architecture for real-time implementation of embedded Model Predictive Control (MPC) on a Field Programmable Gate Array (FPGA). We propose a novel modular framework that allows for easy and rapid prototyping of control with capability for analog-to-digital conversion, numerical scaling, and digital-to-analog conversion. We demonstrate the effectiveness of the proposed framework for real-time control on a quadruple water tank system.