16 citations · 73 across the 21 of their papers we have counts for
4 papers · 1 filter
Learning disturbance models for offset-free reference tracking
Pablo Krupa, Mario Zanon, Alberto Bemporad
This work presents a nonlinear control framework that guarantees asymptotic offset-free tracking of generic reference trajectories by learning a nonlinear disturbance model, which…
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…
Efficient online update of model predictive control in embedded systems using first-order methods
Victor Gracia, Pablo Krupa, Teodoro Alamo +1
Model Predictive Control (MPC) is typically characterized for being computationally demanding, as it requires solving optimization problems online; a particularly relevant point wh…
Certification of the proximal gradient method under fixed-point arithmetic for box-constrained QP problems
Pablo Krupa, Omar Inverso, Mirco Tribastone +1
In safety-critical applications that rely on the solution of an optimization problem, the certification of the optimization algorithm is of vital importance. Certification and subo…