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151-0310-00L 4 Credits MSC D-ITET , D-MAVT

Nonlinear Model Predictive Control of Mechatronic Systems

Lecturers & Examiners: Dr. Thivaharan Albin Rajasingham
Note: previous course title until FS21 "Model Predictive Engine Control". Number of participants limited to 55.
VVZ CR n/a

Last Updated: 2026-02-05 16:07:18

Abstract

The lecture details the Nonlinear Model Predictive Control (NMPC) concept that is an advanced control method offering significant advantages. Specifically, NMPC schemes are covered which are suited for the requirements of mechatronic systems. Many systems are characterized by complex, nonlinear system dynamics while the sampling times of the control algorithms are in the millisecond range.

Objective

Learn how to design and implement Nonlinear Model Predictive Control algorithms for challenging real-time systems. The lecture discusses the algorithmic details of NMPC with a special focus on mechatronic systems. During the exercise sessions an NMPC controller for a combustion engine is developed. The entire process from simulation-based control development to the application at a real-world combustion engine is covered.

Content

1) Introduction 2) Model-based control 3) Fundamentals of optimization 4) Linear MPC 5) Formulation of the optimization problem 6) Nonlinear MPC: numerical solution algorithms for real-time applications 7) Nonlinear MPC: discretization methods 8) Application example: engine control

Resources

Lecture Notes

Lecture slides will be provided after each lecture.The lecture follows the book T. Albin: "Nonlinear Model Predictive Control of Combustion Engines" Springer

Literature

x T. Albin: "Nonlinear Model Predictive Control of Combustion Engines" x J. Maciejowski: "Predictive Control with Constraints" x L. Guzzella / C. Onder: "Introduction to Modeling and Control of Internal Combustion Engine Systems"

General Information

Language
English
Levels
MSC

Examination

Type
end-of-semester examination
Mode
oral 30 minutes
This course will be offered for the last time in the Spring Semester 2022. The examination can be taken/repeated for the last time in the first two weeks of Autumn Semester 2022.

Registration & Places

Max Places
55

Course Components

Type Title Time & Place Hours
lecture Nonlinear Model Predictive Control of Mechatronic Systems
This course will be offered for the last time in Spring Semester 2022.
  • Fri 08:15-10:00 (ML F 38)
2 h weekly
exercise Nonlinear Model Predictive Control of Mechatronic Systems
This course will be offered for the last time in Spring Semester 2022.
  • Fri 12:15-13:00 (LFV E 41)
1 h weekly

Offered In