Hardware-in-the-loop simulations of circuit architectures for the computation of exact and approximate explicit MPC control functions

Several circuit architectures have been proposed for the fast implementation of embedded control systems, but only simulated results of the stand-alone circuits are usually reported. In this work we perform a hardware-in-the-loop simulation of a closed-loop system in which the controller is physically implemented in an FPGA. We improve two different circuit architectures available in the literature, to make them suitable for the computation of exact and approximate Model Predictive Control and we test them with the FPGA-in-the-loop simulations. Control and circuit performances are discussed.