A sparse and condensed QP formulation for predictive control of LTI systems

@article{Jerez2012ASA,
  title={A sparse and condensed QP formulation for predictive control of LTI systems},
  author={Juan Luis Jerez and Eric C. Kerrigan and George A. Constantinides},
  journal={Automatica},
  year={2012},
  volume={48},
  pages={999-1002}
}
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. We present a formulation where the input is expressed as an affine function of the state such that the closed-loop dynamics matrix becomes nilpotent. Using this approach and removing the equality constraints leads to a compact and sparse optimization problem to be solved at each sampling instant. The problem can be solved… CONTINUE READING

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