Efficient infeasibility handling in linear MPC subject to prioritized constraints

@article{Vada1999EfficientIH,
  title={Efficient infeasibility handling in linear MPC subject to prioritized constraints},
  author={Jostein Vada and Olav Slupphaug and Tor Arne Johansen},
  journal={1999 European Control Conference (ECC)},
  year={1999},
  pages={1166-1171}
}
All practical MPC implementations should have a means to recover from infeasibility. We propose an algorithm designed for linear state-space MPC which optimally relaxes an infeasible prioritized MPC optimization problem into a feasible one by solving only one LP on-line in addition to the standard MPC optimization problem. By optimal it is meant that the violation of a lower prioritized constraint cannot be made less without increasing the violation of a higher prioritized constraint. It is… CONTINUE READING

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