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The explicit linear quadratic regulator for constrained systems
Control of systems integrating logic, dynamics, and constraints
Predictive Control for Linear and Hybrid Systems
Predictive Control for Linear and Hybrid Systems is an ideal reference for graduate, postgraduate and advanced control practitioners interested in theory and/or implementation aspects of predictive control.
Robust model predictive control: A survey
The basic concepts of MPC are reviewed, the uncertainty descriptions considered in the MPC literature are surveyed, and the techniques proposed for robust constraint handling, stability, and performance are surveyed.
Model predictive control based on linear programming - the explicit solution
The availability of the explicit structure of the MPC controller provides an insight into the type of control action in different regions of the state space, and highlights possible conditions of degeneracies of the LP, such as multiple optima.
OSQP: an operator splitting solver for quadratic programs
- B. Stellato, G. Banjac, P. Goulart, A. Bemporad, Stephen P. Boyd
- Computer ScienceUKACC 12th International Conference on Control…
- 21 November 2017
We present a general-purpose solver for convex quadratic programs based on the alternating direction method of multipliers, employing a novel operator splitting technique that requires the solution…
A survey on explicit model predictive control
Explicit model predictive control (MPC) addresses the problem of removing one of the main drawbacks of MPC, namely the need to solve a mathematical program on line to compute the control action. This…
Observability and controllability of piecewise affine and hybrid systems
- A. Bemporad, G. Ferrari-Trecate, M. Morari
- MathematicsProceedings of the 38th IEEE Conference on…
- 7 December 1999
It is proved through counterexamples that observability and controllability properties cannot be easily deduced from those of the component linear subsystems, and practical numerical tests based on mixed-integer linear programming are proposed.
HYSDEL-a tool for generating computational hybrid models for analysis and synthesis problems
- F. D. Torrisi, A. Bemporad
- Computer ScienceIEEE Transactions on Control Systems Technology
- 1 March 2004
This paper presents HYSDEL (hybrid systems description language), a high-level modeling language for DHA, and a set of tools for translating DHA into any of the former hybrid models, and shows the modeling capabilities ofHYSDEL and how the different models allow to use several computational tools.
Min-max control of constrained uncertain discrete-time linear systems
It is shown that the finite-horizon robust optimal control law is a continuous piecewise affine function of the state vector and can be calculated by solving a sequence of multiparametric linear programs.