@incollection{eprints573,
          author = {Alberto Bemporad and Francesco Borrelli and Manfred Morari},
         address = {Sydney, Australia December, 2000},
          volume = {1},
         journal = {Proc. 39th IEEE Conf. on Decision and Control},
           pages = {632--637},
       publisher = {IEEE},
           title = {Explicit solution of LP-based model predictive control},
       booktitle = {Decision and Control Conference},
            year = {2000},
        abstract = {For discrete-time linear time-invariant systems with constraints on inputs and states, we develop an algorithm to determine explicitly, as a function of the initial state, the solution to optimal control problems that can be formulated using a linear program. In particular, we focus our attention on a receding horizon control scheme where the performance criterion is based on a mixed 1/?-norm. We show that the optimal control profile is a piecewise linear and continuous function of the initial state. Thus, when the optimal control problem is solved at each time step according to a moving horizon scheme, the online computation of the resultant model predictive controller is reduced to a simple linear function evaluation, instead of the typical expensive linear program required up to now. The technique proposed has both theoretical and practical advantages. The proposed technique is attractive for a wide range of applications where the simplicity of the online computational complexity is a crucial requirement},
        keywords = {discrete-time systems; linear programming; linear time-invariant systems; model predictive control; optimal control; piecewise linear control; receding horizon control; stability; discrete time systems; linear programming; linear systems; optimal control; piecewise linear techniques; predictive control; stability},
             url = {http://eprints.imtlucca.it/573/}
}