Efficient MPC optimization using Pontryagin's Minimum Principle
A method of solving the online optimization in model predictive control (MPC) of input-constrained linear systems is described. Using Pontryagin's Minimum Principle, the matrix factorizations performed by general purpose quadratic programming (QP) solvers are replaced by recursions of state and...
| Main Authors: | , , , |
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| Format: | Conference item |
| Published: |
2006
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