Assume that you need to design MPC model for your vehicle stability control system. Please answer

the following questions if the main structure is as given below.

a) Specify the name of the blocks, A, B, C, D in above MPC flowchart.

(5 marks)

b) Assume the algorithm on MPC is set to solve a problem with three variables

where the

(?,?,?)

multi-stage problem formulation (or function) is:

If

w

= 1, and

rewrite the problem function for only minimisation task.

?

(

?,?

)

=

10,

?

(15 marks)

c) Find the fastest time possible to solve the above problem function (b) using MPC.

(10 marks)