Real-time solution to quadratically constrained quadratic programs for predictive converter control

Abstract

This paper considers the real-time implementation of MPC tailored to voltage source converters with inductive-capacitive filter. Previous work has shown that the nonlinear and non-convex MPC problem can be equivalently formulated as a convex quadratically constrained quadratic program (QCQP). We develop two tailored algorithms based on the OSQP and HPIPM solvers to efficiently solve this QCQP. As the aforementioned solvers do not support quadratic constraints, we extend them so that they can solve QCQPs. We provide numerical comparison between the proposed methods and state-of-the-art solvers and show that our solvers are suitable for embedded applications.