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math.OC2026
Suboptimal and Reduced-Order MPC via Timescale Separation
Stefano Di Gregorio, Guido Carnevale, Giuseppe Notarstefano
In this paper, we propose a generalized framework for the design and analysis of suboptimal and reduced-order nonlinear Model Predictive Control (MPC) architectures. The proposed f…
math.OC2026
Safe Control of Feedback-Interconnected Systems via Singular Perturbations
Stefano Di Gregorio, Guido Carnevale, Giuseppe Notarstefano
Control Barrier Functions (CBFs) have emerged as a powerful tool in the design of safety-critical controllers for nonlinear systems. In modern applications, complex systems often i…