@incollection{eprints547,
           title = {Computation and approximation of piecewise affine control via binary search tree},
            year = {2002},
          volume = {3},
         address = {Las Vegas, Nevada USA, December 2002},
           pages = {3144--3149},
       booktitle = {Decision and Control Conference},
         journal = {Proc. 41th IEEE Conf. on Decision and Control,},
       publisher = {IEEE},
          author = {Petter Tondel and Tor Arne Johansen and Alberto Bemporad},
             url = {http://eprints.imtlucca.it/547/},
        abstract = {We present an algorithm for generating a binary search tree that allows efficient computation of piecewise affine (PWA) functions defined on a polyhedral partition. This is useful for PWA control approaches, such as explicit model predictive control (MPC), as it allows the controller to be implemented on-line with small computational effort. The computation time is logarithmic in the number of regions in the PWA partition. A method for generating an approximate PWA function based on a binary search tree is also presented, giving further simplification of PWA control.},
        keywords = {approximate function; binary search trees; explicit model predictive control; piecewise affine control laws; polyhedral partition; computational complexity; functions; linear programming; linear systems; predictive control; tree searching}
}