Region-free explicit model predictive control for linear systems on Hilbert spaces

Abstract

We extend discrete-time explicit model predictive control (MPC) rigorously to linear distributed parameter systems. After formulating an MPC framework and giving a relevant KKT theorem, we realize fast regionless explicit MPC by using the dual active set method QPKWIK. A Timoshenko beam with input and state constraints is used to demonstrate the efficacy of the design at controlling a continuous-time hyperbolic PDE with constraints, using a discrete-time explicit MPC controller.

8 pages, 3 figures. Accepted for publication in IEEE Transactions on Automatic Control. Simulation code available at https://codeocean.com/capsule/3852006