TY  - CHAP
AV  - none
SP  - 632
TI  - Explicit solution of LP-based model predictive control
A1  - Bemporad, Alberto
A1  - Borrelli, Francesco
A1  - Morari, Manfred
M1  - 1
UR  - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=912837&isnumber=19696
Y1  - 2000///
KW  - 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
CY  - Sydney, Australia December, 2000
SN  - 0-7803-6638-7
N2  - 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
ID  - eprints573
EP  - 637
PB  - IEEE
T2  - Decision and Control Conference
ER  -