Evaluation of piecewise affine control via binary search tree


We present an algorithm for generating a binary search tree that allows efficient evaluation of piecewise affine (PWA) functions defined on a polyhedral partitioning. This is useful for PWA control approaches, such as explicit model predictive control (MPC), as it allows the controller to be implemented online with small computational effort. The… (More)
DOI: 10.1016/S0005-1098(02)00308-4

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