Explicit constrained model predictive control: the influence of constraints redundancy

The paper deals with the constrained model predictive control and tries to identify the influences of the redundancy in the constraints when developing explicit laws. Methods exist to eliminate the redundant constraints, the solution is given in terms of a cutting in the parameters space, the question is whether such a redundancy-free formulation decreases the computational load and further, which are the drawbacks. Finally the goal is to give design hints such that, given the structure of the associate multiparametric quadratic program, the degree of redundancy and the cuttings' complexity, the user will be able to decide whether a "redundancy avoidance preprocessor" should be employed or not.