key words: model predictive control, optimization, constrained control

Model Predictive Control System Design and Implementation Using MATLAB
By Liuping Wang, Springer 2009. 
http://www.springer.com/engineering/robotics/book/978-1-84882-330-3
Contents
1 Discrete-time MPC for Beginners 
1.1 Introduction 
1.2 State-space Models with Embedded Integrator 
1.3 Predictive Control within One Optimization Window 
1.4 Receding Horizon Control 
1.5 Predictive Control of MIMO Systems 
1.6 State Estimation 
 1.7 State Estimate Predictive Control 
1.8 Summary 
Problems 
2 Discrete-time MPC with Constraints 
2.1 Introduction 
2.2 Motivational Examples 
2.3 Formulation of Constrained Control Problems 
2.4 Numerical Solutions Using Quadratic Programming 
2.5 Predictive Control with Constraints  
2.6 Summary 
Problems 
3 Discrete-time MPC Using Laguerre Functions 
3.1 Introduction 
3.2 Laguerre Functions and DMPC 
3.3 Use of Laguerre Functions in DMPC Design 
3.4 Extension to MIMO Systems 
3.5 MATLAB Tutorial Notes 
3.7 Stability Analysis 
3.8 Closed-form Solution of Constrained Control for SISO Systems 
3.9 Summary 
Problems 
4 Discrete-time MPC with Prescribed Degree of Stability 
4.1 Introduction 
4.2 Finite Prediction Horizon: Re-visited 
4.3 Use of Exponential Data Weighting 
4.4 Asymptotic Closed-loop Stability with Exponential Weighting 
4.5 Discrete-time MPC with Prescribed Degree of Stability
4.6 Tuning Parameters for Closed-loop Performance 
4.7 Exponentially Weighted Constrained Control 
4.8 Additional Benefit 
4.9 Summary 
Problems 
5 Continuous-time Orthonormal Basis Functions
5.1 Introduction 
5.2 Orthonormal Expansion 
5.3 Laguerre Functions 
5.4 Approximating Impulse Responses 
5.5 Kautz Functions 
5.6 Summary 
Problems 
6 Continuous-time MPC
6.1 Introduction 
6.2 Model Structures for CMPC Design.
6.3 Model Predictive Control Using Finite Prediction Horizon 
6.4 Optimal Control Strategy 
6.5 Receding Horizon Control
6.6 Implementation of the Control Law in Digital Environment 
6.7 Model Predictive Control Using Kautz Functions 
6.8 Summary
Problems 
7 Continuous-time MPC with Constraints 
7.1 Introduction 
7.2 Formulation of the Constraints
7.3 Numerical Solutions for the Constrained Control Problem 
7.4 Real-time Implementation of Continuous-time MPC 
7.5 Summary 
Problems 
8 Continuous-time MPC with Prescribed Degree of Stability 
8.1 Introduction 
8.2 Motivating Example
8.3 CMPC Design Using Exponential Data Weighting 
8.4 CMPC with Asymptotic Stability 
8.5 Continuous-time MPC with Prescribed Degree of Stability 
8.6 Constrained Control with Exponential Data Weighting 
8.7 Summary 
Problems 
9 Classical MPC Systems in State-space Formulation 
9.1 Introduction 
9.2 Generalized Predictive Control in State-space Formulation 
9.3 Alternative Formulation to GPC 
9.4 Extension to MIMO Systems 
9.5 Continuous-time NMSS model 
9.6 Case Studies for Continuous-time MPC 
9.7 Predictive Control Using Impulse Response Models 
9.8 Summary 
Problems 
10 Implementation of Predictive Control Systems 
10.1 Introduction 
10.2 Predictive Control of DC Motor Using a Micro-controller 
10.3 Implementation of Predictive Control Using xPC Target 
10.4 Control of Magnetic Bearing Systems 
10.5 Continuous-time Predictive Control of Food Extruder 
10.6 Summary