Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems

Matteo Rubagotti; Davide Barcelli; Alberto Bemporad

doi:10.3182/20120823-5-NL-3013.00014

Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems

Matteo Rubagotti, Davide Barcelli, Alberto Bemporad

Nazarbayev University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper proposes an approximate explicit model predictive control design approach for regulating linear time-invariant systems subject to both state and control constraints. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows a very efficient implementation of the control law on digital circuits, with computation performed in tens of nanoseconds. Second, the asymptotic stability of the closed-loop system is enforced a priori by design.

Original language	English
Title of host publication	NMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program
Publisher	IFAC Secretariat
Pages	119-125
Number of pages	7
Volume	4
Edition	PART 1
ISBN (Print)	9783902823076
DOIs	https://doi.org/10.3182/20120823-5-NL-3013.00014
Publication status	Published - Oct 9 2012
Event	4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12 - Noordwijkerhout, Netherlands Duration: Aug 23 2012 → Aug 27 2012

Publication series

Name	IFAC Proceedings Volumes (IFAC-PapersOnline)
Number	PART 1
Volume	4
ISSN (Print)	1474-6670

Conference

Conference	4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12
Country	Netherlands
City	Noordwijkerhout
Period	8/23/12 → 8/27/12

ASJC Scopus subject areas

Control and Systems Engineering

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10.3182/20120823-5-NL-3013.00014

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Rubagotti, M., Barcelli, D., & Bemporad, A. (2012). Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems. In NMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program (PART 1 ed., Vol. 4, pp. 119-125). (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 4, No. PART 1). IFAC Secretariat. https://doi.org/10.3182/20120823-5-NL-3013.00014

Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems. / Rubagotti, Matteo; Barcelli, Davide; Bemporad, Alberto.

NMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program. Vol. 4 PART 1. ed. IFAC Secretariat, 2012. p. 119-125 (IFAC Proceedings Volumes (IFAC-PapersOnline); Vol. 4, No. PART 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rubagotti, M, Barcelli, D & Bemporad, A 2012, Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems. in NMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program. PART 1 edn, vol. 4, IFAC Proceedings Volumes (IFAC-PapersOnline), no. PART 1, vol. 4, IFAC Secretariat, pp. 119-125, 4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12, Noordwijkerhout, Netherlands, 8/23/12. https://doi.org/10.3182/20120823-5-NL-3013.00014

Rubagotti M, Barcelli D, Bemporad A. Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems. In NMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program. PART 1 ed. Vol. 4. IFAC Secretariat. 2012. p. 119-125. (IFAC Proceedings Volumes (IFAC-PapersOnline); PART 1). https://doi.org/10.3182/20120823-5-NL-3013.00014

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Approximate explicit MPC on simplicial partitions with guaranteed stability for constrained linear systems

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