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Title: Robust explicit model predictive control via regular piecewise-affine approximation
Authors: Rubagotti, Matteo
Barcelli, D.
Bemporad, A.
First Published: 24-Jul-2014
Publisher: Taylor & Francis : STM, Behavioural Science and Public Health Titles
Citation: International Journal of Control, 2014, 87, pp. 2583-2593
Abstract: This paper proposes an explicit model predictive control design approach for regulation of linear time-invariant systems subject to both state and control constraints, in the presence of additive disturbances. The proposed control law is implemented as a piecewise-affine function defined on a regular simplicial partition, and has two main positive features. First, the regularity of the simplicial partition allows one to efficiently implement the control law on digital circuits, thus achieving extremely fast computation times. Moreover, the asymptotic stability (or the convergence to a set including the origin) of the closed-loop system can be enforced a priori, rather than checked a posteriori via Lyapunov analysis.
DOI Link: 10.1080/00207179.2014.935958
ISSN: 0020-7179
eISSN: 1366-5820
Version: Post-print
Status: Peer-reviewed
Type: Journal Article
Rights: Copyright © 2014, Taylor and Francis. This is an Accepted Manuscript of an article published by Taylor & Francis in International Journal of Control on 24 July 2014, available online:
Appears in Collections:Published Articles, Dept. of Engineering

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