%0 Book Section
%@ 978-3-902823-07-6
%A Rubagotti, Matteo
%A Barcelli, Davide
%A Bemporad, Alberto
%B 4th IFAC Nonlinear Model Predictive Control Conference
%D 2012
%F eprints:1487
%I IFAC
%K Explicit Model Predictive Control; Stability and Recursive Feasibility; Dedicated Hardware Implementation of Model Predictive Control
%P 119-125
%T Approximate Explicit MPC on Simplicial Partitions with Guaranteed Stability for Constrained Linear Systems
%U http://eprints.imtlucca.it/1487/
%V 4
%X This paper proposes an approximate explicit model predictive control design approach for regulating linear time-invariant systems subject to both state and control constraints. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows a very efficient implementation of the control law on digital circuits, with computation performed in tens of nanoseconds. Second, the asymptotic stability of the closed-loop system is enforced a priori by design.
%Z 4th IFAC Conference on Nonlinear Model Predictive Control 2012 (NMPC'12), Netherlands, August 23 - 27, 2012