Journal
AUTOMATICA
Volume 46, Issue 11, Pages 1920-1924Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2010.07.003
Keywords
Constrained control; Optimization; Efficient Model Predictive Control
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A recent efficient Model Predictive Control (MPC) strategy uses a univariate Newton-Raphson procedure to solve a dual problem, but is not amenable to warm starting or early termination. By solving a primal problem, the current note proposes a strategy which is more efficient than the Newton-Raphson method and which enables warm starting and early termination. Performance improvements are demonstrated over the Newton-Raphson method and alternative approaches based on quadratic programming or semidefinite programming. (C) 2010 Elsevier Ltd. All rights reserved.
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