3 papers
eess.SY2025
Harmonic model predictive control for tracking sinusoidal references and its application to trajectory tracking
Pablo Krupa, Daniel Limon, Alberto Bemporad +1
Harmonic model predictive control (HMPC) is a recent model predictive control (MPC) formulation for tracking piece-wise constant references that includes a parameterized artificial…
eess.SY2025
Efficient implementation of MPC for tracking using ADMM by decoupling its semi-banded structure
Victor Gracia, Pablo Krupa, Daniel Limon +1
Model Predictive Control (MPC) for tracking formulation presents numerous advantages compared to standard MPC, such as a larger domain of attraction and recursive feasibility even…
eess.SY2024
Model predictive control for tracking using artificial references: Fundamentals, recent results and practical implementation
Pablo Krupa, Johannes Köhler, Antonio Ferramosca +4
This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artifici…