Book (Practical) Mechanical engineering Model Predictive Control with Python and CasADi / Takuya Fukazu / Toru Hishinuma

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Mechanical Engineering
KS Specialized Books on Science and Engineering / Opening the Future of Control Technology : The First Step to the Master of Model Predictive Control (MPC)! It explains the theoretical background and mathematical approach of MPC in an easy-to-understand manner, and contains many examples of actual programming. CasADi is an excellent tool for MPC as open source software for optimal control. It provides a Pythonic version of CasADi example code, so you can learn while practicing it! [Contents] Chapter 1 What Is Control 11 Specific Examples of Control 12 Basic Concepts of Control Engineering 13 Typical Control Methods 14 Supplementary Matters Chapter 2 Model Predictive Control (MPC) 21 Intuitive Image of MPC 22 Formulation of Finite Horizon Optimal Control Problem in MPC 23 Features of MPC 24 Supplementary Matters Chapter 3 Introduction to CasADi 31 Introduction 32 Environment Construction 33 Symbolic Basics 34 Mathematical Optimizations 35 Symbolic Manipulation 36 Function Objects 37 Ordinary Differential Equation Solvers Chapter 4 Discrete Time Model Predictive Control 41 Control Problems of Population Management Chapter 4 Mathematical Equations of State for Lotka-Volterra Model 43 Evaluation Functions for Lotka-Volterra Model 43 Evaluation Functions for Lotka-Volterra Model 44 Formulation of Optimization Problems in MPC 45 Flow of MPC implementation 46 Details of MPC implementation Chapter 5 Continuous Time Model Predictive Control 51 Inverted Pendulum Model 52 Evaluation Functions for Inverted Pendulum 44 Formulation of Optimization Problems in MPC 45 Flow of MPC implementation 46 Details of MPC implementation Chapter 5 Continuous time Model Predictive Control 51 Inverted Pendulum Model 52 Evaluation Functions for Inverted Pendulum 44 Formulation of Optimization Problems in MPC 45 Flow of MPC implementation 46 Details of MPC implementation Chapter 5 Continuous time Model Predictive Control 51 Inverted Pendulum Model 52 Evaluation Functions for Inverted Pendulum 44 Formulation of Optimization Problems in MPC 45 Flow of MPC implementation 46 Details of MPC implementation Chapter 5 Continuous time Model Predictive Control 51 Inverted Pendulum Model 52 Evaluation CasADi CasADi