1 | About the course, Reference, MPC Introduction, Two Different Perspectives, Constraints in Control, Important Aspects of MPC, Daily-life examples of MPC, Autonomous dNaNo Race Cars, History of MPC, MPC in industry, MPC in Aeronautic industry, MPC in Smart Electricity Grids, MPC research is driven by applications, Benefits of MPC | 2.66 MB | Direct Link |

2 | Keywords, Models of Dynamic Systems, Nonlinear Time-Invarient Continuous-Time State Space Models, LTI Continuous-Time State Space Models, Nonlinear Time-Invarient Discrete-Time State Space Models, LTI Discrete-Time State Space Models, Discrete-Time Model, Discrete-Time Model Stability | 526 KB | Direct Link |

3 | Numerical Optimization Methods, Introduction, Unconstrained Optimization, Constrained Optimization, Modeling languages for optimization problems, Solving optimization problems | 960 KB | Direct Link |

4 | Optimal Control Introduction and Unconstrained Linear Quadratic Control, Optimal Control Introduction, Batch Approach, Recursive Approach, Dynamic Programming Algorithm, Linear Quadratic Optimal Control | 818 KB | Direct Link |

5 | Optimal Control, Receding horizon control, Impact of Horizon Length (Example), Linear Quadratic Optimal Control, Constrained Linear Optimal Control, Constrained Optimal Control: 2-Norm | 3.8 MB | Direct Link |

6 | Basic Ideas of Predictive Control, Receding Horizon Control Notation, MPC Features, Stability and Invariance of MPC, Feasibility and Stability, Extension to Nonlinear MPC | 7.54 MB | Direct Link |

7 | Soft Constraints, Reference Tracking | 457 KB | Direct Link |

8 | MPC Simulink | 488 KB | Direct Link |

9 | Robust MPC, Uncertainty Models, Examples of Common Uncertainty Models, Goals of Robust Constrained Control, Uncertain State Evolution, Robust Constraint Satisfaction, Putting it Together, MPC as a Game, Closed-Loop Predictions, Tube MPC, Tube MPC: System Decomposition, Tube MPC: Error Dynamics, Tube MPC: The Idea, Noisy System Trajectory, Constraint Tightening, Tube-MPC: Problem Formulation, Tube MPC -Example, Tube MPC -Summary, Robust MPC for Uncertain Systems Summary | 880 KB | Direct Link |

10 | Hybrid MPC, Introduction, Hybrid dynamical systems, Technological push for studying hybrid systems, Examples of Hybrid Systems, Key requirements for hybrid models, Piecewise Affine (PWA) Systems, Discrete Hybrid Automaton (DHA), Switched affine system, Event generator, Finite state machine, Transformation of a DHA into linear (in)equalities, Mixed Logical Dynamical (MLD) systems, MLD Hybrid Model Well-Posedness, HYbridSystem Description Language | 2.8 MB | Direct Link |

11 | Hybrid MPC, Optimal Control for Hybrid Systems: General Formulation, Mixed Integer Linear Programming, Mixed Integer Quadratic Programming, Branch & bound method for MIQP, Hybrid Model Predictive Control, MIQP formulation of Hybrid MPC, Hybrid MPC for reference tracking, Closed-loop convergence, Closed-loop convergence proof, MILP formulation of Hybrid MPC, Mixed-Integer Programming solvers, MPC for Hybrid Systems -Complexity, Hybrid MPC of an inverted pendulum, Example in supply chain management, Supply chain management -Dynamics, Supply chain management - HYSDEL code, Supply chain management - Objectives, Supply chain management - Performance index, Supply chain management - Simulation setup, Supply chain management - Simulation results, Hybrid MPC: Summary | 2.2 MB | Direct Link |

12 | Explicit Model Predictive Control, Introduction, Multiparametric Programming, Explicit Linear MPC, Explicit Hybrid MPC, Explicit MPC: Summary | 1.54 MB | Direct Link |

13 | Dynamic State Estimation for Dynamical Systems, Introduction, Stochastic estimators, Stochastic Estimator: The Extended Kalman Filter, DeterminsticEstimators (Observers), Luenberger Observerand Plant Dynamics, Observer-Based Control, State observer for MPC, Extended model for observer design, Kalman filter design, I/O feedthrough | 1.6 MB | Direct Link |

14 | Data-driven MPC, Data-driven direct controller synthesis, Data-driven MPC -An example, Optimal data-driven MPC, Data-driven optimal policy search, Optimal Policy Search Problem, Descent Direction, Optimal Policy Search Algorithm, Special Case: Output Tracking, Learning MPC from data | 950 KB | Direct Link |

15 | dynamics, constraints and cost function, MPC: optimal control problem and assumptions, NMPC: a note on computational aspects, Summery:Choiceof prediction model, Conclusions, MPC research areas and researchers | 419 KB | Direct Link |