%0 Book Section
%A Canale, Massimo
%A Cerone, Vito
%A Piga, Dario
%A Regruto, Diego
%B Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC)
%D 2011
%F eprints:2444
%I IEEE
%K Aerospace electronics; Approximation algorithms; Function approximation; Optimization; Polynomials; Trajectory
%P 3375-3380
%T Fast implementation of model predictive control with guaranteed performance
%U http://eprints.imtlucca.it/2444/
%X A fast implementation of a given predictive controller for nonlinear systems is introduced through a piecewise constant approximate function defined over an hyper-cube partition of the system state space. Such a state partition is obtained by maximizing the hyper-cube volumes in order to guarantee, besides stability, an a priori fixed trajectory error as well as input and state constraints satisfaction. The presented approximation procedure is achieved by solving a set of nonconvex polynomial optimization problems, whose approximate solutions are computed by means of semidefinite relaxation techniques for semialgebraic problems.
%Z 50th IEEE Conference on Decision and Control and  European Control Conference (CDC-ECC), held in Orlando USA), December 12-15, 2011