Triple mode MPC or laguerre MPC: A comparison

This paper reviews triple mode predictive control for linear time invariant systems and considers the analogies with new approaches to conventional dual mode MPC algorithms deploying Laguerre polynomials. It is shown that there are strong analogies and moreover, that using the Laguerre insights within a Triple mode approach may significantly enlarge the feasibility region compared to recently proposed triple mode approaches. The improvements, with respect to an existing Triple mode algorithm, are demonstrated by examples.