Towards Online Model Predictive Control on a Programmable Logic Controller: Practical Considerations

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="912603.fig.007a" src="https://static.hindawi.com/articles/mpe/volume-2012/912603/figures/912603.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Measured temperature. The controlled output of the system</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="912603.fig.007b" src="https://static.hindawi.com/articles/mpe/volume-2012/912603/figures/912603.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b> The applied inputs to the system</td></tr></table></td></tr></table>

<table>The in- and outputs for the  Hildreth and  qpOASES algorithm on the PLC.</table>

Mathematical Problems in Engineering

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Figure 7

Figure 7: Towards Online Model Predictive Control on a Programmable Logic Controller: Practical Considerations 