A Survey of the Implementation of Linear Model Predictive Control on FPGAs

Ian McInerney, George A. Constantinides, Eric C. Kerrigan

Research output: Contribution to journalArticlepeer-review


Over the past 20 years, great strides have been made in the real-time implementation of linear MPC on FPGA devices. Starting from initial work, which demonstrated the benefits of embedding linear MPC onto FPGAs, recent work has shown sampling rates of more than 1 MHz are possible with FPGA-based implementations. This work surveys FPGA implementations of linear MPC, with a focus on the computational architecture. This includes the choice of number representation, the parallelizations exploited and the memory architecture. We discuss the transferability of those design choices to the FPGA implementation of nonlinear MPC, and provide some future research directions related to the implementation of MPC on FPGAs.
Original languageEnglish
Pages (from-to)381-387
Issue number20
Publication statusPublished - 19 Aug 2018
Externally publishedYes
Event6th IFAC Conference on Nonlinear Model Predictive Control - Madison, WI, United States
Duration: 19 Aug 201822 Aug 2018


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