articleIEEE Transactions on Automatic ControlDec 1, 2002Closed access

Model predictive control based on linear programming - the explicit solution

ABAlberto BemporadFBFrancesco BorrelliMMManfred Morari

University of Siena · ETH Zurich

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Abstract

We study model predictive control (MPC) schemes for discrete-time linear time-invariant systems with constraints on inputs and states, that can be formulated using a linear program (LP). In particular, we focus our attention on performance criteria based on a mixed 1 -norm, namely, 1-norm with respect to time and -norm with respect to space. First we provide a method to compute the terminal weight so that closed-loop stability is achieved. We then show that the optimal control profile is a piecewise affine and continuous function of the initial state and briefly describe the algorithm to compute it. The piecewise affine form allows to eliminate online LP, as the computation associated with MPC becomes a…

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Topics & keywords

Topics
Keywords
  • Model predictive control
  • Computer science
  • Control theory (sociology)
  • Linear system
  • Linear programming
  • Control (management)
  • Control engineering
  • Mathematical optimization
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