Controller complexity reduction for piecewise affine systems through safe region elimination
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Date
2007Type
- Conference Paper
ETH Bibliography
yes
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Abstract
We consider the class of piecewise affine optimal state feedback control laws applied to discrete-time piecewise affine systems, motivated by recent work on the computation of closed-form MPC controllers. The storage demand and complexity of these optimal closed-form solutions limit their applicability in most real-life situations. In this paper we present a novel algorithm to a posteriori reduce the storage demand and complexity of the closed-form controller without losing closed-loop stability or all time feasibility while guaranteeing a bounded performance decay compared to the optimal solution. The algorithm combines simple polyhedral manipulations with (multi-parametric) linear programming and the effectiveness of the algorithm is demonstrated on a large numerical example. Show more
Publication status
publishedExternal links
Book title
Proceedings of the 46th IEEE Conference on Decision and ControlPages / Article No.
Publisher
IEEEEvent
Subject
constrained systems; piecewise affine systems; receding horizon control; closed-form MPC; multi-parametric programming; complexity reduction; approximationOrganisational unit
03416 - Morari, Manfred (emeritus)
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ETH Bibliography
yes
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