On the computation of linear model predictive control laws

Finite-time optimal control problems with quadratic performance index for linear systems with linear constraints can be transformed into Quadratic Programs (QPs). Model Predictive Control requires the online solution of such QPs. This can be obtained by using a QP solver or evaluating the associated explicit solution. Objective of this note is to present alternative algorithms which trade off memory versus computational time differently than explicit solutions and active sets QP solvers.

• Type: Journal
• Year: 2010
• Where: AUTOMATICA
• Authors: Francesco Borrelli, Mato Baotic, Jaroslav Pekar, Greg Stewart
• Keywords: Associated Explicit Solution, AUTOMATICA 2007, AUTOMATICA 2010, Explicit Solutions, Quadratic Performance Index