@article{eprints459,
           title = {An algorithm for multi-parametric quadratic programming and explicit MPC solutions},
       publisher = {Elsevier},
            year = {2003},
          number = {3},
          author = {Petter Tondel and Tor Arne Johansen and Alberto Bemporad},
           pages = {489--497},
         journal = {Automatica},
          volume = {39},
        keywords = {Linear quadratic regulators; Piecewise linear controllers; Constraints; Predictive control},
        abstract = {Explicit solutions to constrained linear model predictive control problems can be obtained by solving multi-parametric quadratic programs (mp-QP) where the parameters are the components of the state vector. We study the properties of the polyhedral partition of the state space induced by the multi-parametric piecewise affine solution and propose a new mp-QP solver. Compared to existing algorithms, our approach adopts a different exploration strategy for subdividing the parameter space, avoiding unnecessary partitioning and QP problem solving, with a significant improvement of efficiency.},
             url = {http://eprints.imtlucca.it/459/}
}