Bemporad, Alberto and Borrelli, Francesco and Morari, Manfred
*Explicit solution of LP-based model predictive control.*
In:
Decision and Control Conference.
IEEE, Sydney, Australia December, 2000, pp. 632-637.
ISBN 0-7803-6638-7
(2000)

## Abstract

For discrete-time linear time-invariant systems with constraints on inputs and states, we develop an algorithm to determine explicitly, as a function of the initial state, the solution to optimal control problems that can be formulated using a linear program. In particular, we focus our attention on a receding horizon control scheme where the performance criterion is based on a mixed 1/∞-norm. We show that the optimal control profile is a piecewise linear and continuous function of the initial state. Thus, when the optimal control problem is solved at each time step according to a moving horizon scheme, the online computation of the resultant model predictive controller is reduced to a simple linear function evaluation, instead of the typical expensive linear program required up to now. The technique proposed has both theoretical and practical advantages. The proposed technique is attractive for a wide range of applications where the simplicity of the online computational complexity is a crucial requirement

Item Type: | Book Section |
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Identification Number: | 10.1109/CDC.2000.912837 |

Uncontrolled Keywords: | discrete-time systems; linear programming; linear time-invariant systems; model predictive control; optimal control; piecewise linear control; receding horizon control; stability; discrete time systems; linear programming; linear systems; optimal control; piecewise linear techniques; predictive control; stability |

Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TJ Mechanical engineering and machinery |

Research Area: | Computer Science and Applications |

Depositing User: | Professor Alberto Bemporad |

Date Deposited: | 27 Jul 2011 09:11 |

Last Modified: | 17 Jul 2014 12:16 |

URI: | http://eprints.imtlucca.it/id/eprint/573 |

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