TY  - JOUR
KW  - Linear quadratic regulators; Piecewise linear controllers; Constraints; Predictive control
VL  - 39
UR  - http://www.sciencedirect.com/science/article/pii/S0005109802002509
A1  - Tondel, Petter
A1  - Johansen, Tor Arne
A1  - Bemporad, Alberto
Y1  - 2003///
SP  - 489
TI  - An algorithm for multi-parametric quadratic programming and explicit MPC solutions
AV  - none
IS  - 3
PB  - Elsevier
JF  - Automatica
N2  - 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.
ID  - eprints459
EP  - 497
SN  - 005-1098
ER  -