@incollection{eprints581,
       publisher = {IEEE},
           title = {An algorithm for multi-parametric quadratic programming and explicit MPC solutions},
       booktitle = {Decision and Control Conference},
            year = {2001},
          author = {Petter Tondel and Tor Arne Johansen and Alberto Bemporad},
         address = {Orlando, Florida USA, December 2001},
          volume = {2},
         journal = {Proc. 40th IEEE Conf. on Decision and Control},
           pages = {1199--1204},
        keywords = {constrained linear model-predictive control problems; efficiency; explicit solutions; exploration strategy; multi-parametric piecewise linear solution; multi-parametric quadratic programming algorithm; parameter space subdivision; partitioning; polyhedral state-space partition; problem solving; state vector components; piecewise linear techniques; predictive control; problem solving; quadratic programming; state-space methods},
        abstract = {Explicit solutions to constrained linear model-predictive control (MPC) 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 linear 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 in efficiency},
             url = {http://eprints.imtlucca.it/581/}
}