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FPGA Implementation of an Interior-Point Solution for Linear Model Predictive Control

Abstract The work here is directed at examining a model predictive control (MPC) implementation that takes advantage of recent advances in the availability of high performance computing platforms at modest cost. The focus here is on the potential for developing custom architecture solutions on field programmable gate array (FPGA) platforms. This is illustrated by demonstrating the solution of a disturbance rejection problem on a real 14'th order lightly damped resonant system at 200μs sampling rate, using only 30μs to compute the control action.