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: | Journal article |
| Language: | English |
| Published: |
2008
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