Efficient MPC optimization using Pontryagin's Minimum Principle

Efficient MPC optimization using Pontryagin's Minimum Principle

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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...

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Detalles Bibliográficos
Main Authors:	Cannon, M, Liao, W, Kouvaritakis, B, IEEE
Formato:	Conference item
Publicado:	2006

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