3 papers
math.OC2025
Dual MPC for Active Learning of Nonparametric Uncertainties
Tren Baltussen, Maurice Heemels, Alexander Katriniok
This manuscript presents a dual model predictive controller (MPC) that balances the two objectives of dual control, namely, system identification and control. In particular, we pro…
math.OC2025
A Contingency Model Predictive Control Framework for Safe Learning
Merlijne Geurts, Tren Baltussen, Alexander Katriniok +1
This research introduces a multi-horizon contingency model predictive control (CMPC) framework in which classes of robust MPC (RMPC) algorithms are combined with classes of learnin…
math.OC2025
Continuity Conditions for Piecewise Quadratic Functions on Simplicial Conic Partitions are Equivalent
Magne Erlandsen, Tomas Meijer, W. P. M. H. Heemels +1
Analysis of continuous-time piecewise linear systems based on piecewise quadratic (PWQ) Lyapunov functions typically requires continuity of these functions over a partition of the…