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Efficient Computation of Controller Partitions in Multi-Parametric Programming

Author(s):

R. Suard, J. Löfberg, P. Grieder, M. Kvasnica, M. Morari
Conference/Journal:

IEEE Conference on Decision and Control, Bahamas, pp. 3643-3648
Abstract:

The off-line solution to optimal control problems for linear or piecewise-affine systems with constraints has garnered much attention because the on-line implementation can be realized with a simple look-up table. Specifically, multi-parametric programming techniques can be utilized to compute a piecewise-affine feedback law off-line. Even though the computation is performed off-line, the necessary computation time may easily become excessive for larger problems. This paper identifies the computation of minimal representations of polytopes as a key driver for complexity and presents an efficient method for reducing the associated computation cost. The method utilizes bounding-boxes and ray-shooting to discard redundant hyper-planes efficiently. A case study demonstrates the computational advantages.

Year:

2004
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { SuaEtal:2004:IFA_1867,
    author={R. Suard and J. L{\"o}fberg and P. Grieder and M. Kvasnica and M.
	  Morari},
    title={{Efficient Computation of Controller Partitions in
	  Multi-Parametric Programming}},
    booktitle={IEEE Conference on Decision and Control},
    pages={},
    year={2004},
    address={Bahamas},
    month=dec,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1867}
}
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