@article{eprints2475,
           title = {Approximation of model predictive control laws for polynomial systems},
            year = {2014},
          volume = {16},
           month = {September},
          number = {5},
           pages = {1425--1436},
         journal = {Asian Journal of Control },
       publisher = {Wiley-Blackwell},
          author = {Massimo Canale and Vito Cerone and Dario Piga and Diego Regruto},
        abstract = {A fast implementation of a given predictive controller for polynomial systems is introduced by approximating the optimal control law with a piecewise constant function defined over a hyper-cube partition of the system state space. Such a state-space partition is computed in order to guarantee stability, an a priori fixed trajectory error as well as input and state constraints fulfilment. 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.},
             url = {http://eprints.imtlucca.it/2475/},
        keywords = {LMI relaxation, polynomial optimization, model predictive control}
}