• Corpus ID: 59606198

Bounding Computational Complexity under Cost Function Scaling in Predictive Control

  title={Bounding Computational Complexity under Cost Function Scaling in Predictive Control},
  author={Ian McInerney and Eric C. Kerrigan and George A. Constantinides},
We present a framework for upper bounding the number of iterations required by first-order optimization algorithms implementing constrained LQR controllers. We derive new bounds for the condition number and extremal eigenvalues of the primal and dual Hessian matrices when the cost function is scaled. These bounds are horizon-independent, allowing for their use with receding, variable and decreasing horizon controllers. We considerably relax prior assumptions on the structure of the weight… 

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