How to emplement Model Predictive Control

Hi,
I have to controle a MIMO system whose model could change over time.
It's an 8dof robot with 8 actuators, and a sensor that gives 3d velocity, position, roation rate, and orientation.
Actually I'm using autotunnig PID, and considering my MIMO system like multiple SISO systems. It works correctly for some dof but not for others.
It seems that Model predictive control is the right way to do that.
What are the steps to emplement correctly a MPC?
Thanks

Thank you very much Javi, I will try designing the MPC controller over the a linearized model and implement it on the nonlinear proccess. But I have a problem designing the controller with the linear model. I am using the example "CDEx MPC with Dual Constraints" to start working over it. So I just change each matrix (A,B,C,D) and the rest of the parameters (constraints, set point), but when I run it it doesn't works fine and it shows to me 2 control signals when the system just have one. Something similar occur with the outputs, according to the model I have 2 outputs but the chart only shows me 1. And the constarints seems to do nothing (umin = 0 - umax = 5e-4; ymin = [0;0]; ymax = [0.69;0.59]. I attach the file hoping you can help me please because I've been trying also on several examples for this state space model and having no result.
Please help me with this problem, because I do not have no where to ask.
Attachments:
MPC.vi ‏190 KB

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HELP: How to implement Model Predictive Control in LabVIEW?

Hi, everyone
I have a problem on realizing model predictive control algorithm in LabVIEW 7.1.1.
What I have now is a linear model predictive control algorithm designed with Matlab -- Model Predictive Control Toolbox. Under simulation in SIMULINK, it works well.
Now I need to implement this algorithm with hardwares such as sensors and actuaors by LabVIEW. Initially, I try to use the NI Simulation Interface Toolkit (SIT) 2.0 connect the simulink module with my LabVIEW interface to get the model calculation out of matlab, then send them into LabVIEW. It failed, because SIT can only help me design a simulation interface in LabVIEW based on Matlab model. Not the parrallel working mode I need. I am wondering, does any people here have experience dealing with the similar problems?
Thanks! Appreciate your time and help!

Thanks Jarrod.
With your suggestion, I tried LabVIEW simulation module. It seems the Model Predictive Control (MPC) block I developed in Matlab/SIMULINK cannot be supported by LabVIEW simulation translator.
The parrallel mode means I want to use the input from DAQ card as the input for MPC block (Basically, it is just a control algorithm with I/O), and I would like to use the output from MPC block as my actuator output to external device. However, when I use Simulation Interface Toolkit to import my MPC block from Matlab to LabVIEW. It is completely sealed. I mean I cannot pull the I/O ports out from this block in LabVIEW. That is the problem where I am now.
BTW: I found there is optimization function in Simulation module of LabVIEW. But Why I cannot find that function in my Simulation module (LabVIEW 7.1.1 + Simulation Module 1.0) ?
Do I need to upgrade my LabVIEW to 8.0, since I heard about several powerful math functions there. And I am hoping with these math tools, I could realize MPC by myself in LabVIEW.
Anyway, Thanks a lot for your help!!!

Model predictive control (MPC) setup

Hi All,
the attached VI is the Model predictive control that I am trying to develop. I have three inputs (one manipulated and two measured disturbances). I have got my model from system identification. The model is discrete. I am just trying to tune it but could not do it properly. I am just wondering is there any problem with the model (as the D matrix is not zero, I have to make it zero for MPC or not? )or there is anything else wrong?. The limits on my inputs are; for input 1 it is from 0-210, for input 2 it is 10-60 and for input 3 it is 0-1500. The second and third inputs are measured disturbances so we can’t manipulate them in order to get the required output (I think we can set up this in weight matrix). The output has range of 20-60. I want my output to follow the refrence output for example 40, but it does not happpen....
@barp. Andy C. please have a look.
Please advise.
Looking forward to hearing from you.
Kindest Regards
Muhammad
Attachments:
MPC.vi ‏112 KB

Hi Muhammad
I have attached a zip of a few of the stock examples which should be added when you install the Control Design and Simulation Module. Try navigating to "<root>\Program Files (x86)\National Instruments\LabVIEW 2010\examples\Control and Simulation\Control Design\MPC" - there should be lots more examples there.
I'm not sure what problems there could be with your model. If you are using the System Identification Toolkit then there could be some issues in your code there, could you post that?
Regards,
Peter D
Attachments:
MPC Examples.zip ‏901 KB

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CountryExpand:
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=IIF(Parameters!GroupExpand.Value="Yes", False, True)
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Parent Group: SalesTerritoryGroup
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