An numerical method for fast nonlinear model predictive control

Theapplicationofoptimization-basedcontrolmethodssuchasnonlinearmodelpredictivecontrol(NMPC)toreal-worldprocessmodelsisstillamajorcomputationalchallenge.Inthispaper,wepresentanewnumericaloptimizationschemesuitedforNMPC.TheSQP-typeapproachusesaninexactconstraintJacobianinitsiterationsand