Elsevier

IFAC Proceedings Volumes

Volume 43, Issue 14, September 2010, Pages 539-544
IFAC Proceedings Volumes

A Novel mp-NLP Algorithm for Explicit/Multi-parametric NMPC *

https://doi.org/10.3182/20100901-3-IT-2016.00073Get rights and content

Abstract

In this work we present a novel multi-parametric nonlinear programming (mp-NLP) algorithm for explicit multi-parametric nonlinear model predictive control (mp-NMPC). The algorithm is based on (i) local sensitivity analysis of nonlinear programs (NLP), and (ii) an exploration procedure which makes use of successive linearizations of the dynamic system and the nonlinear constraints. The algorithm is illustrated with an example problem drawn from the open literature.

Keywords

Explicit NMPC
Nonlinear Programming Sensitivity
Multi-parametric Nonlinear Programming

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*

This work was supported in part by the Mexican Council for Science and Technology (Conacyt), the European Union (PROMATCH Marie Curie MRTN-CT-2004-512441), the European Research Council (MOBILE, ERC Advanced Grant, No: 226462), KAUST and the CPSE Industrial Consortium

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