A condensed and sparse QP formulation for predictive control

@article{Jerez2011ACA,
  title={A condensed and sparse QP formulation for predictive control},
  author={Juan Luis Jerez and Eric C. Kerrigan and George A. Constantinides},
  journal={IEEE Conference on Decision and Control and European Control Conference},
  year={2011},
  pages={5217-5222}
}
The computational burden that model predictive control (MPC) imposes depends to a large extent on the way the optimal control problem is formulated as an optimization problem. In this paper, we present a new formulation that results in a compact and sparse optimization problem to be solved at each sampling interval. The approach is based on a change of… CONTINUE READING