TY  - JOUR
AV  - none
TI  - Robust explicit model predictive control via regular piecewise-affine approximation
KW  - Model predictive control
KW  -  uncertain systems
KW  -  piecewise\-affine functions
UR  - http://dx.doi.org/10.1080/00207179.2014.935958
SN  - 0020-7179
N2  - This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. Firstly, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a-priori, rather than checked a-posteriori via Lyapunov analysis.
ID  - eprints2224
EP  - 2593
Y1  - 2014///
JF  - International Journal of Control 
IS  - 12
A1  - Rubagotti, Matteo
A1  - Barcelli, Davide
A1  - Bemporad, Alberto
PB  - Taylor & Francis
SP  - 2583
VL  - 87
ER  -