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Multiparametric linear programming for control

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4 Author(s)
Morari, M. ; Autom. Control Lab., ETH Zurich, Zurich ; Jones, C.N. ; Zeilinger, M.N. ; Baric, M.

Constrained finite time optimal control problems can be expressed as mathematical programs parameterized by the current state of the system: the so-called multi-parametric programs. These problems have received a great deal of attention in the control community during the last few years because solving the parametric program is equivalent to synthesizing the optimal state-feedback controller. For many cases of interest, the resulting synthesized controllers are simple piecewise-affine functions, which enables receding horizon control to be used not only in slowly sampled systems requiring powerful computers but now also in high-speed embedded applications. The primary limitation of these optimal dasiaexplicit solutionspsila is that the complexity can grow quickly with problem size. In this talk I will introduce new methods to compute approximate explicit and online control laws that can trade-off time and space complexity against sub-optimality while providing guarantees of stability and feasibility.

Published in:

Control Conference, 2008. CCC 2008. 27th Chinese

Date of Conference:

16-18 July 2008

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