An Efficient Model Predictive Control Algorithm with Constraints Using a Simple Explicit Control Law

摘要

In this paper we propose an efficient model predictive control algorithm (MPC) for discrete-time linear time invariant systems with constraints. The proposed method reduces on-line control computation to the simple evaluation of an explicitly defined linear function. This algorithm greatly improves the efficiency of on-line control. Hence constrained linear quadratic regulation becomes also available for applications with fast dynamics.