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


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… (More)
DOI: 10.1016/j.automatica.2012.03.010


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