Approximate Explicit MPC on Simplicial Partitions with Guaranteed Stability for Constrained Linear Systems

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 t...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 45; no. 17; pp. 119 - 125
Main Authors Rubagotti, Matteo, Barcelli, Davide, Bemporad, Alberto
Format Journal Article
LanguageEnglish
Published 2012
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ISSN1474-6670
DOI10.3182/20120823-5-NL-3013.00014

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Summary: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.
ISSN:1474-6670
DOI:10.3182/20120823-5-NL-3013.00014