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- Michal Kvasnica, Pascal Grieder, Mato Baotic, Manfred Morari
- HSCC
- 2004

- Pascal Grieder, Francesco Borrelli, Fabio Danilo Torrisi, Manfred Morari
- Automatica
- 2004

This paper presents an efficient algorithin for coiiiputing the solution to the constrained infinite time linear quadratic regulator (CLQR) problem for discrete time systems. The algorithm coinbiiies multi-parametric quadratic programming with reachability analysis to obtain the optiinal piecewise affine (PWA) feedback law. The algorithm reduces the time… (More)

- Pascal Grieder, Michal Kvasnica, Mato Baotic, Manfred Morari
- Automatica
- 2005

- Raphael Cagienard, Pascal Grieder, Eric C. Kerrigan, Manfred Morari
- 2004

In order to deal with the computational burden of optimal control, it is common practice to reduce the degrees of freedom by fixing the input or its derivatives to be constant over several time-steps. This policy is referred to as “move blocking”. This paper will address two issues. First, a survey of various move blocking strategies is presented and the… (More)

Piecewise affine (PWA) systems are useful models for describing nonlinear and hybrid systems. They also result from LTI systems subject to constrained optimal control. Recently, stability analysis of PWA systems has received increased interest since it can help to obtain explicit feedback control laws of low complexity (Grieder et al., 2003b; Grieder and… (More)

Piecewise affine systems are powerful models for describing both non-linear and hybrid systems. One of the key problems in controlling these systems is the inherent computational complexity of controller synthesis and analysis, especially if constraints on states and inputs are present. This paper illustrates how reachability analysis based on… (More)

We derive a control theoretic model of sector-based air traffic flow using hybrid automata theory. This model is Lagrangian, meaning that it models the properties of the system along its trajectories. A subset of this model is used to generate analytic predictions of air traffic congestion: we define and derive a dynamic sector capacity which we use to… (More)

In this paper we present an approach to test stability and feasibility of discrete-time LTI systems subject to constrained optimal control. The analysis is based on the feedback solution of the constrained optimal control problem formulated in a Receding Horizon fashion. The validation procedure consists of two independent parts. For stability, a piecewise… (More)

- Miroslav Baric, Pascal Grieder, Mato Baotic, Manfred Morari
- Automatica
- 2008

We present an algorithm for the computation of explicit optimal control laws for piecewise affine (PWA) systems with polyhedral performance indices. The algorithm is based on dynamic programming (DP) and represents an extension of ideas initially proposed in Kerrigan and Mayne [(2003). Optimal control of constrained, piecewise affine systems with bounded… (More)