Model predictive control is increasingly becoming a popular control strategy for a wide range of applications in both industry and academia, mainly motivated by its ability to systematically handle constraints imposed on a system, regardless of its nature. However, this generates high computational demands, limiting the applicability of model predictive control. Field-programmable gate arrays are reconfigurable hardware platforms that allow the parallel implementation of model predictive control, accelerating such algorithms, but most works found in the literature opt to use high-level synthesis tools and fixed-point numeric representation to generate embedded controllers, resulting in faster-designed solutions but not exactly efficient and flexible ones, that can be applied to different scenarios. Regarding such matter, this work proposes the manual implementation (register-transfer level implementation) of linear model predictive control and the usage of floating-point numeric representation applied to a quadrotor system. The initial results obtained using the proposed controller are presented in this article, achieving 29.34 ms of calculation time at 50 MHz for the attitude control of a quadrotor model containing twelve states and four control outputs.

模型预测控制正日益成为工业和学术界广泛应用的流行控制策略，主要是因为它能够系统地处理强加于系统的约束，而不管其性质如何。然而，这会产生很高的计算需求，限制了模型预测控制的适用性。现场可编程门阵列是可重新配置的硬件平台，允许并行实现模型预测控制，加速此类算法，但文献中的大多数工作选择使用高级综合工具和定点数值表示来生成嵌入式控制器，从而导致在设计速度更快但并不完全高效和灵活的解决方案中，可以应用于不同的场景。对于这样的事情，这项工作提出了线性模型预测控制的手动实现（寄存器传输级实现）和应用于四旋翼系统的浮点数值表示的使用。本文介绍了使用所提出的控制器获得的初始结果，在 50 MHz 下实现了 29.34 ms 的计算时间，用于包含十二个状态和四个控制输出的四旋翼模型的姿态控制。