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

Matteo Rubagotti, Davide Barcelli, Alberto Bemporad

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationNMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program
Pages119-125
Number of pages7
Volume4
EditionPART 1
DOIs
Publication statusPublished - Oct 9 2012
Event4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12 - Noordwijkerhout, Netherlands
Duration: Aug 23 2012Aug 27 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
NumberPART 1
Volume4
ISSN (Print)1474-6670

Conference

Conference4th IFAC Conference on Nonlinear Model Predictive Control, NMPC'12
CountryNetherlands
CityNoordwijkerhout
Period8/23/128/27/12

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

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). https://doi.org/10.3182/20120823-5-NL-3013.00014