%0 Journal Article
%@ 005-1098
%A Tondel, Petter
%A Johansen, Tor Arne
%A Bemporad, Alberto
%D 2003
%F eprints:459
%I Elsevier
%J Automatica
%K Linear quadratic regulators; Piecewise linear controllers; Constraints; Predictive control
%N 3
%P 489-497
%T An algorithm for multi-parametric quadratic programming and explicit MPC solutions
%U http://eprints.imtlucca.it/459/
%V 39
%X 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.