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Certification of the Fast Gradient Method in Model Predictive Control


S. Richter

International Conference on Operations Research, Zurich

Model predictive control (MPC) requires the solution of a constrained finite horizon optimal control problem in a receding horizon fashion. Consequently, the solution to this optimization problem has to be obtained within one sampling period of the control loop. But guaranteeing deterministic termination of an iterative solution method is a challenging problem in general. This talk focuses on certifying the fast gradient method for both input-only constrained and input/state constrained linear quadratic MPC. We establish links between problem data and convergence speed and emphasize the practicability of the certification results by several examples and real-world applications.

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M. Morari

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