On multi-parametric nonlinear programming and explicit nonlinear model predictive control
- 27 August 2003
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (01912216) , 2768-2773
- https://doi.org/10.1109/cdc.2002.1184260
Abstract
A numerical algorithm for approximate multi-parametric nonlinear programming is developed. It allows approximate solutions to nonlinear optimization problems to be computed as explicit piecewise linear functions of the problem parameters. In control applications such as nonlinear constrained model predictive control this allows efficient online implementation in terms of an explicit piecewise linear state feedback without any real-time optimization.Keywords
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