Robust explicit model predictive control via regular piecewise-affine approximation

Matteo Rubagotti, Davide Barcelli, Alberto Bemporad

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. 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 one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.

Original languageEnglish
Pages (from-to)2583-2593
Number of pages11
JournalInternational Journal of Control
Issue number12
Publication statusPublished - Dec 1 2014


  • model predictive control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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