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Efficient On-Line Computation of Explicit Model Predictive Control

Author(s):

F. Borrelli, M. Baotic, A. Bemporad, M. Morari
Conference/Journal:

vol. AUT01-15
Abstract:

For discrete-time linear time-invariant systems with constraints on inputs and outputs Model Predictive Control (MPC) can be solved explicitly off-line via multi-parametric programming. The explicit solution is attractive for the control of small size/fast sampling constrained processes, as MPC requires only the evaluation of a piecewise affine function of the state instead of the on-line solution of a linear or quadratic program. By using the properties of the value function, in this paper we present two algorithms that significantly improve the efficiency of the on-line computation of MPC in terms of storage demands and computational complexity.

Further Information
Year:

2001
Type of Publication:

(04)Technical Report
Supervisor:



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% Autogenerated BibTeX entry
@TechReport { BorEtal:2001:IFA_802,
    author={F. Borrelli and M. Baotic and A. Bemporad and M. Morari},
    title={{Efficient On-Line Computation of Explicit Model Predictive
	  Control}},
    institution={},
    year={2001},
    number={},
    address={},
    month=aug,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=802}
}
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