MPC for industrial mechatronic systems

This research focusses on developing tools to facilitate the use, the implementation, validation and analysis of nonlinear model predictive control (NMPC) for nonlinear mechatronic systems. Special focus is on realizing closed-loop properties typical for motion systems, such as zero-steady state positioning errors, low settling times, rise times and overshoot, in addition to the more typical NMPC objectives such as tracking and economic objectives. An important part of this research is the experimental validation and demonstration of these tools. With the development of these tools and their demonstration, we aim to bring NMPC closer to their uptake by the manufacturing industry.