Affine Function 을 이용한 Approximate Explicit MPC 설계

Abstract

Model predictive control(MPC) is a control technique that minimizes the cost function with constraints. But, MPC needs a lot of computation time, as a result, we cannot easily implement the algorithm in real-time. In this paper, we discuss explicit MPC. The explicit MPC can overcome the shortcoming like computation time. At the same time, we can obtain the analogous performance of MPC. The algorithm of explicit MPC was validated with a simple system, and we observed the computation time was decreased.