System and method for explicit model predictive control

摘要

A method for controlling a system using an explicit model predictive control (EMPC) evaluates, with respect to a state of the system, each inequality in a set of inequalities defining a set of regions of a state space of the system to produce a set of Boolean results. At least some of the inequalities are evaluated concurrently, and a size of the set of Boolean results equals a size of the set of inequalities. The method determines a region including the state by applying a Boolean function to elements of the set of Boolean results corresponding to inequalities forming boundaries of the region and determines a control for the system based on the state and a gain associated with the region. At least some Boolean functions are applied to corresponding elements concurrently after all elements in the set of Boolean results are evaluated.