%0 Journal Article
%@ 1561-8625
%A Canale, Massimo
%A Cerone, Vito
%A Piga, Dario
%A Regruto, Diego
%D 2014
%F eprints:2475
%I Wiley-Blackwell
%J Asian Journal of Control 
%K LMI relaxation, polynomial optimization, model predictive control
%N 5
%P 1425-1436
%T Approximation of model predictive control laws for polynomial systems
%U http://eprints.imtlucca.it/2475/
%V 16
%X 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.