Explicit model predictive control accuracy analysis

  title={Explicit model predictive control accuracy analysis},
  author={A. Knyazev and P. Zhu and S. D. Cairano},
  journal={2015 54th IEEE Conference on Decision and Control (CDC)},
Model Predictive Control (MPC) can efficiently control constrained systems in real-time applications. MPC feedback law for a linear system with linear inequality constraints can be explicitly computed off-line, which results in an off-line partition of the state space into non-overlapped convex regions, with affine control laws associated to each region of the partition. An actual implementation of this explicit MPC in low cost micro-controllers requires the data to be “quantized”, i.e… Expand
Sensitivity of Piecewise Control Laws with Respect to Perturbation of the State-Space Partition
This work derives a set called vertex sensitivity region to determine the admissible perturbation independently for each vertex of the polyhedral partition, deemed admissible if the non-overlapping property of thepolyhedral regions is preserved. Expand
Perturbations in polyhedral partitions and the related fragility of piecewise affine control.
The control design techniques for linear or hybrid systems under constraints lead often to off-line state-space partitions with non-overlapping convex polyhedral regions. This corresponds to aExpand
On the precision in polyhedral partition representation and the fragility of PWA control
This work determines a set called sensitivity margin to characterize for admissible perturbation preserving the non-overlapping and the invariance property of the PWA controller. Expand
PID- explicit predictive dual mode control for double-water tank
A PID-explicit model predictive control based on dual mode strategy is developed in this paper to deal with nonlinear processes and is simulated on a double-water tank, which can decrease calculation time and have a satisfying performance. Expand


Model predictive control based on linear programming - the explicit solution
The availability of the explicit structure of the MPC controller provides an insight into the type of control action in different regions of the state space, and highlights possible conditions of degeneracies of the LP, such as multiple optima. Expand
Number Representation in Predictive Control
This paper presents results to reduce the computational requirements for solving fundamental problems that arise when implementing predictive controllers in finite precision arithmetic by employing novel formulations and tailor-made optimization algorithms. Expand
Clipping-Based Complexity Reduction in Explicit MPC
The paper focuses on the memory issue and proposes a novel method of replacing a generic continuous PWA function by a different function of significantly lower complexity in such a way that the simple function guarantees the same properties as the original. Expand
Model Predictive Idle Speed Control: Design, Analysis, and Experimental Evaluation
A model predictive control strategy for regulating the engine speed to the idle speed set-point by actuating the electronic throttle and the spark timing and an MPC controller is developed that performs better than an existing baseline controller in the vehicle, is robust to changes in operating conditions, and to different types of disturbances. Expand
Linear Machine: A Novel Approach to Point Location Problem
Abstract In recent literature, explicit model predictive control (e-MPC) has been proposed to facilitate implementation of the popular model predictive control (MPC) approach to fast dynamicalExpand
An Industry Perspective on MPC in Large Volumes Applications: Potential Benefits and Open Challenges
Abstract Model predictive control has been originally developed for chemical process control, where plants are expensive, have slow dynamics, and a large number of inputs and outputs. Furthermore, inExpand
The development of Model Predictive Control in automotive industry: A survey
This paper surveys the investigations of MPC in the automotive industry with particular focus on the developments at Ford Motor Company, and presents three applications that have been recently prototyped in fully functional production-like vehicles. Expand
Using hash tables to manage the time-storage complexity in a point location problem: Application to explicit model predictive control
A new flexible algorithm is proposed which enables the designer to trade off between time and storage complexities, and solves an aggregated point location problem that overcomes prohibitive complexity growth with the number of polyhedral regions. Expand
The explicit linear quadratic regulator for constrained systems
We present a technique to compute the explicit state-feedback solution to both the finite and infinite horizon linear quadratic optimal control problem subject to state and input constraints. We showExpand
Constrained LQR for low-precision data representation
This work proposes a novel formulation to efficiently exploit the low (or non-standard) precision number representation of some computer architectures when computing the solution to constrained LQR problems, such as those that arise in predictive control. Expand