Imperial College London
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ProfessorEricKerrigan

Faculty of Engineering, Department of Electrical and Electronic Engineering

Professor of Control and Optimization
 
 
 
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Contact

 

+44 (0)20 7594 6343e.kerrigan Website

 
 
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Assistant

 

Mrs Raluca Reynolds +44 (0)20 7594 6281

 
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Location

 

1114Electrical EngineeringSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{McInerney:2020:10.1109/CDC40024.2019.9029910,
author = {McInerney, I and Kerrigan, E and Constantinides, G},
doi = {10.1109/CDC40024.2019.9029910},
pages = {1--6},
publisher = {IEEE},
title = {Modeling round-off error in the fast gradient method for predictive control},
url = {http://dx.doi.org/10.1109/CDC40024.2019.9029910},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - CPAPER
AB  - We present a method for determining the smallest precision required to have algorithmic stability of an implementation of the Fast Gradient Method (FGM) when solving a linear Model Predictive Control (MPC) problem in fixed-point arithmetic. We derive two models for the round-off error present in fixed-point arithmetic. The first is a generic model with no assumptions on the predicted system or weight matrices. The second is a parametric model that exploits the Toeplitz structure of the MPC problem for a Schur-stable system. We also propose a metric for measuring the amount of round-off error the FGM iteration can tolerate before becoming unstable. This metric is combined with the round-off error models to compute the minimum number of fractional bits needed for the fixed-point data type. Using these models, we show that exploiting the MPC problem structure nearly halves the number of fractional bits needed to implement an example problem. We show that this results in significant decreases in resource usage, computational energy and execution time for an implementation on a Field Programmable Gate Array.
AU  - McInerney,I
AU  - Kerrigan,E
AU  - Constantinides,G
DO  - 10.1109/CDC40024.2019.9029910
EP  - 6
PB  - IEEE
PY  - 2020///
SP  - 1
TI  - Modeling round-off error in the fast gradient method for predictive control
UR  - http://dx.doi.org/10.1109/CDC40024.2019.9029910
UR  - https://ieeexplore.ieee.org/document/9029910
UR  - http://hdl.handle.net/10044/1/73269
ER  -
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