Fast suboptimal predictive control with guaranteed stability
- Efficient algorithms for constrained minimization of infinite horizon predictive control costs are presented. Control laws with guaranteed stability and asymptotic tracking are derived on the basis of appropriately chosen one-dimensional and ellipsoidal constraint set approximations. These achieve comparable performance with existing QP-based control laws with significant reductions in computational burden. © 1998 Published by Elsevier Science B.V. All rights reserved.
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