%0 Book Section
%A Tondel, Petter
%A Johansen, Tor Arne
%A Bemporad, Alberto
%B Decision and Control Conference
%C Las Vegas, Nevada USA, December 2002
%D 2002
%F eprints:547
%I IEEE
%K 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
%P 3144-3149
%T Computation and approximation of piecewise affine control via binary search tree
%U http://eprints.imtlucca.it/547/
%V 3
%X 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.