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From linear to nonlinear MPC: bridging the gap via the real-time iteration

Gros, Sébastien and Zanon, Mario and Quirynen, Rien and Bemporad, Alberto and Diehl, Moritz From linear to nonlinear MPC: bridging the gap via the real-time iteration. International Journal of Control. pp. 1-19. ISSN 0020-7179 (In Press) (2016)

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Linear model predictive control (MPC) can be currently deployed at outstanding speeds, thanks to recent progress in algorithms for solving online the underlying structured quadratic programs. In contrast, nonlinear MPC (NMPC) requires the deployment of more elaborate algorithms, which require longer computation times than linear MPC. Nonetheless, computational speeds for NMPC comparable to those of MPC are now regularly reported, provided that the adequate algorithms are used. In this paper, we aim at clarifying the similarities and differences between linear MPC and NMPC. In particular, we focus our analysis on NMPC based on the real-time iteration (RTI) scheme, as this technique has been successfully tested and, in some applications, requires computational times that are only marginally larger than linear MPC. The goal of the paper is to promote the understanding of RTI-based NMPC within the linear MPC community.

Item Type: Article
Identification Number: 10.1080/00207179.2016.1222553
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Research Area: Computer Science and Applications
Depositing User: Caterina Tangheroni
Date Deposited: 04 Oct 2016 08:36
Last Modified: 04 Oct 2016 08:36
URI: http://eprints.imtlucca.it/id/eprint/3543

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