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Engineering · L5 · MPC receding-horizon control loop

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One cycle of model predictive control: measure, predict, optimize, apply, shift, repeat.

by @openstemUpdated Engineering
Measure current state x0Predict trajectory over horizon N using plant modelSolve finite-horizon optimization: minimize cost subject to state and input constraintsFeasible solution found?Apply only the first control move u0 to the plantTrigger fallback or safe controllerShift horizon forward one stepYesNo

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