Nonlinear MPC with fixed-point iterations: numerical and experimental validation

The paper demonstrates the applicability of a recently presented MPC scheme for nonlinear systems with control constraints. The algorithm is based on fixed-point iterations that in principal consist of combined forward/backward integrations over the MPC horizon. Numerical and runtime results for a nonlinear chemical reactor model show the efficiency of the fixed-point iterative MPC scheme. Experimental results for a magnetic levitation system confirm its practical applicability.