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We implement a recently proposed event-triggered networked MPC approach onindustrial hardware to analyze its practical relevance. There exist severalalternatives for such an implementation that differ with respect to thedistribution of computational load between local and central nodes, and withrespect to network bandwidth requirements. These alternatives have beenanalyzed theoretically before, but when implemented it becomes evident thattheir usefulness cannot be predicted based on theoretical considerations alone.It is the purpose of the present paper to account for both practical andtheoretical aspects in determining which alternative is most appropriate for animplementation on industrial hardware. The smallest possible bandwidth is knownto result for a variant in which only the active set of constraints istransmitted from the central to the local nodes. Since local nodes mustdetermine the control law from the active set in this case, which requiresmatrix inversions, an unattractive computational cost results at first sight.Somewhat surprisingly, the computational cost scales practically linearly inthe problem size when implemented. We confirm this result with a more detailedtheoretical complexity analysis than given in previous papers. All results areillustrated with data obtained with an implementation on industrial hardwarecomponents.

A Complexity Analysis of Event-Triggered Model Predictive Control on Industrial Hardware