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

Rubagotti, Matteo; Barcelli, Davide; Bemporad, Alberto; Matteo, Rubagotti

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

Date

2012-01-01

Authors

Rubagotti, Matteo

Matteo, Rubagotti

Barcelli, Davide

Bemporad, Alberto

Publisher

IFAC Proceedings Volumes

Abstract

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.

Citation

Matteo Rubagotti, Davide Barcelli, Alberto Bemporad, Approximate Explicit MPC on Simplicial Partitions with Guaranteed Stability for Constrained Linear Systems, In IFAC Proceedings Volumes, Volume 45, Issue 17, 2012, Pages 119-125