Hello Abdullah,
To convert a NMPC (Nonlinear Model Predictive Control) to an Explicit Model Predictive Control involves certain steps since both the approaches handle a control problem differently. This conversion relies on the linearization of the NMPC model for it to be then converted into an Explicit Model Predictive Control design as highlighted in the following documentation link:
Here is the overview of steps required for the aforementioned conversion from NPMC to an Explicit MPC based design:
1. Select the operating points from state variables or input variables to linearize based on these points.
2. The linearization process would include computation on Jacobian matrices of partial derivatives with respect to the chosen operating points. You can refer to this documentation to know more about the "jacobian" function which might help you in the process:
3. There are several tools for linearization in MATLAB’s Control System Toolbox as well with functions such as “linmod”, “linapp”, or “linearize”. You can refer to the below documentations to know more about them:
Just a thing to note here would be that since linearization in involved in order to convert from one MPC to another, the non-linear effects and dynamics from the operating points would be lost.
Hope this helps!
