Tutorials

This chapter presents some application examples of GRAMPC and how to tune GRAMPC to improve the performance compared to the default settings. In addition to a model predictive control and an optimal control problem, a moving horizon estimation example is presented. Please note that the plot functions, described in Plot functions, and the status of GRAMPC, see Status flags, also provide important information for tuning GRAMPC.

• Model predictive control of a PMSM
  • Problem formulation
  • Constraints scaling
  • Optimization of the penalty update
• Optimal control of a double integrator
  • Problem formulation
  • Optimization with fixed end time
  • Optimization with free end time
• Moving horizon estimation of a CSTR
  • Problem formulation
  • Implementation aspects
  • Evaluation
• Differential algebraic equations
  • Problem formulation
  • Implementation aspects
  • Evaluation
• Constraint Tuning
  • Problem formulation
  • Tuning approach