Abstract
This article begins by using the analogy to chess to provide intuition about many aspects of MPC. This is followed by a brief review of the historical context within which MPC developed. This review also serves to provide the mathematical background needed in the proofs of the existence, feasibility and stability of the simplest and most basic version of MPC. Next, the basic aspects of MPC are described. Finally, a detailed example is presented and used to illustrate some possible uses, limitations, and possible extensions of the most elementary version of MPC.
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Levine, W.S. (2019). The Essentials of Model Predictive Control. In: Raković, S., Levine, W. (eds) Handbook of Model Predictive Control. Control Engineering. Birkhäuser, Cham. https://doi.org/10.1007/978-3-319-77489-3_1
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DOI: https://doi.org/10.1007/978-3-319-77489-3_1
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