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Fast predictive control of linear, time-invariant systems using an algorithm based on the fast gradient method and augmented Lagrange multipliers

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2 Author(s)
Kogel, Markus ; Inst. for Autom. Eng., Otto-von-Guericke-Univ. Magdeburg, Magdeburg, Germany ; Findeisen, R.

We present an algorithm based on the fast gradient method and augmented Lagrange multipliers for model predictive control of linear, discrete-time, time-invariant, systems with constraints. In particular, the algorithm solves the underlying quadratic program in the so-called condensed form and takes advantage of the problem structure. At the end, we illustrate the performance of the algorithm, which is competitive with tailored interior-point methods, by an example.

Published in:

Control Applications (CCA), 2011 IEEE International Conference on

Date of Conference:

28-30 Sept. 2011