8 papers
On Piecewise Quadratic Terminal Costs for MPC
Sampath Kumar Mulagaleti, Boris Houska, Mario Zanon +1
This paper presents a novel approach to synthesize stabilizing termi- nal ingredients for linear model predictive control (MPC) schemes, with the aim of increasing the region of at…
Dual MPC for quasi-Linear Parameter Varying systems
Sampath Kumar Mulagaleti, Alberto Bemporad
We present a dual Model Predictive Control (MPC) framework for the simultaneous identification and control of quasi-Linear Parameter Varying (qLPV) systems. The framework is compos…
Combined Learning of Linear Parameter-Varying Models and Robust Control Invariant Sets
Sampath Kumar Mulagaleti, Alberto Bemporad
Dynamical models identified from data are frequently employed in control system design. However, decoupling system identification from controller synthesis can result in situations…
Configuration-Constrained Tube MPC for Periodic Operation
Filippo Badalamenti, Jose A. Borja-Conde, Sampath Kumar Mulagaleti +3
Periodic operation often emerges as the economically optimal mode in industrial processes, particularly under varying economic or environmental conditions. This paper proposes a ro…
A Regularization and Active Learning Method for Identification of Quasi Linear Parameter Varying Systems
Sampath Kumar Mulagaleti, Alberto Bemporad
This paper proposes an active learning method for designing experiments to identify quasi-Linear Parameter-Varying (qLPV) models. Since informative experiments are costly, input si…
Sample Efficient Certification of Discrete-Time Control Barrier Functions
Sampath Kumar Mulagaleti, Andrea Del Prete
Control Invariant (CI) sets are instrumental in certifying the safety of dynamical systems. Control Barrier Functions (CBFs) are effective tools to compute such sets, since the zer…