Abstract
This paper describes the implementation of an efficient model predictive control (MPC) approach on a standard programmable logic controller (PLC). PLCs are commonly used in industrial automation but are typically limited in view of computational performance and memory. The MPC scheme in this contribution is well suited for nonlinear input constrained systems with sampling times in the millisecond range and can also be applied to tracking control problems. Experimental results for a laboratory crane demonstrate the real-time applicability of the PLC implementation.
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