Dipl. Ing., Ph.D. Student
Automatic Control Laboratory
Swiss Federal Institute of Technology
Physikstr. 3, ETL K26
Phone: +41 44 632 6298
Fax: +41 44 632 1211
Email: domahidi (at) control.ee.ethz.ch
ResearchI mainly work on methods and tools for embedded model predictive control, with the following specific topics:
- Learning MPC controllers: function approximation in high dimensional spaces using machine learning techniques
- Efficient second-order optimization methods for embedded applications. I have authored two solvers that run on embedded systems and solve convex problems very efficiently (see also the Software section below).
SoftwareThe following software can be used to solve small to medium-sized convex problems very efficiently. All solvers are written in ANSI-C, i.e. you can run it on any platform supporting a C-compiler.
- FORCES: Code generation for convex multistage problems. Solves LPs, QPs and QCQPs whenever the problem has spatial or temporal decoupling in the cost and inequalities, i.e. is a multistage problem. License: GPL3.
- ECOS: Embedded Conic Solver for solving second-order cone programs. Solves SOCPs (also LPs, QPs, QCQPs of course). No code generation. Very efficient for sparse problems. License: GPL3.