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Fakultät für Elektrotechnik und Informationstechnik

Nonlinear Model Predictive Control - Theory and Applications


Credits: 10 ECTS
Term: Winter 23/24

Lecture & Exercise

Lecturers: Prof. Dr.-Ing. Timm Faulwasser, Dr.Ing. Alexander Engelmann
Assistant: Julian Golembiewski
Schedule: Thursdays and Fridays 09:00 - 12:00am
Room: Chemie C1-06 180
Starting: 12.10.2023
Language: English

Note: Most likely we will be finished with the lectures and exercises by December/January such that you have time to work on your project afterwards.

Examination: Take-home project and oral exam
Enrollment: Please sign up for the course on LSF.  You will then be enrolled in Moodle automatically.
Office hours: On demand

Majors and Module Numbers:
M.Sc. Electrical Engineering and Information Technology: Module 3-39
M.Sc. Automation and Robotics: Module AR-318


  • Optimality conditions for static optimization problems
  • Basics of Optimal Control Theory and the Pontryagin Maximum Principle
  • Formulation of Optimal Control Problems
  • Primer on numerical solution methods (shooting methods and collocation)
  • Principle of Nonlinear Model Predictive Control
  • Sufficient stability conditions with and without terminal constraints
  • Implementation aspects of NMPC
  • Economic MPC
  • Research outlook: NMPC for energy systems

The course will involve pen and paper exercises as well as programming exercises in Matlab. Furthermore, there will be a take-home project which is a prerequisite for taking the oral exam. The guidelines for the take-home project are:

  • Students hand in a project report of 10 to maximum 20 pages
  • The project is presented concisely
  • The project involves problem formulation and solution
  • The lecturer and teaching assistant are available for questions