Efficient implementation of solvers for linear model predictive control on embedded devices

摘要

This paper proposes a novel approach for the efficient implementation of solvers for linear MPC on embedded devices. The main focus is to explain in detail the approach used to optimize the linear algebra for selected low-power embedded devices, and to show how the high-performance implementation of a single routine (the matrix-matrix multiplication gemm) can speed-up an interior-point method for linear MPC. The results show that the high-performance MPC obtained using the proposed approach is several times faster than the current state-of-the-art IP method for linear MPC on embedded devices.