Lecture 12

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We continue the treatment of the Pontryagin Maximum Principle and discussed how it can be used to solve time optimal control problems. We discussed the solution of exercise 7.11 of the compedium.  We also introduce the idea of Receding Horizon Control aka Model Predictive Control that solves iteratively optimal control problems on a finite prediction horizon under constraints on inputs and states.

MPC is discussed in the following video (after 17:13) 

Notes from the class can be found here: 

FRTN05_Lecture12_annotated.pdf Download FRTN05_Lecture12_annotated.pdf

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