@incollection{eprints737,
       booktitle = {Decision and Control Conference},
          author = {Alberto Bemporad and Alberto Oliveri and Tomaso Poggi and Marco Storace},
       publisher = {IEEE},
            year = {2010},
           title = {Synthesis of stabilizing model predictive controllers via canonical piecewise affine approximations},
           pages = {5296 --5301},
         address = {Hilton Atlanta Hotel, Atlanta, December 15-17, 2010},
           month = {December},
        keywords = {Lyapunov functions; asymptotic stability; canonical piecewise affine approximation; closed loop system; controller synthesis; linear MPC controllers; model predictive controller stabilization; Lyapunov methods; approximation theory; asymptotic stability; closed loop systems; control system synthesis; linear systems; piecewise linear techniques; predictive control; sampling methods},
        abstract = {This paper proposes the use of canonical piecewise affine (PWA) functions for the approximation of linear MPC controllers over a regular simplicial partition of a given set of states of interest. Analysis tools based on the construction of PWA Lyapunov functions are provided for certifying the asymptotic stability of the resulting closed-loop system. The main advantage of the proposed controller synthesis approach is that the resulting stabilizing approximate MPC controller can be implemented on chip with sampling times in the order of tens of nanoseconds.},
             url = {http://eprints.imtlucca.it/737/}
}