16 citations · 73 across the 21 of their papers we have counts for
5 papers · 1 filter
Implementation of MPC in embedded systems using first order methods
Pablo Krupa
This Ph.D. dissertation contains results in two different but related fields: the implementation of model predictive control (MPC) in embedded systems using first order methods, an…
A sparse ADMM-based solver for linear MPC subject to terminal quadratic constraint
Pablo Krupa, Rim Jaouani, Daniel Limon +1
Model Predictive Control (MPC) typically includes a terminal constraint to guarantee stability of the closed-loop system under nominal conditions. In linear MPC this constraint is…
Tractable robust MPC design based on nominal predictions
Ignacio Alvarado, Pablo Krupa, Daniel Limon +1
Many popular approaches in the field of robust model predictive control (MPC) are based on nominal predictions. This paper presents a novel formulation of this class of controller…
Real-time implementation of MPC for tracking in embedded systems: Application to a two-wheeled inverted pendulum
Pablo Krupa, Jose Camara, Ignacio Alvarado +2
This article presents the real-time implementation of the model predictive control for tracking formulation to control a two-wheeled inverted pendulum robot. This formulation offer…
Restart of accelerated first order methods with linear convergence under a quadratic functional growth condition
Teodoro Alamo, Pablo Krupa, Daniel Limon
Accelerated first order methods, also called fast gradient methods, are popular optimization methods in the field of convex optimization. However, they are prone to suffer from osc…