7 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…
Feedback Synthesis for Nonlinear Systems Via Convex Control Lyapunov Functions
Mario Eduardo Villanueva, Juraj Oravec, Radoslav Paulen +1
This paper introduces computationally efficient methods for synthesizing explicit piecewise affine (PWA) feedback laws for nonlinear discrete-time systems, ensuring robustness and…
Relaxation via Separable Estimators: Arithmetic and Implementation
Yanlin Zha, Mario Eduardo Villanueva, Boris Houska +1
This article presents an arithmetic, called superposition relaxation, for bracketing the graph of a multivariate factorable function on a compact domain between a pair of underesti…
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…
Efficient Configuration-Constrained Tube MPC via Variables Restriction and Template Selection
Filippo Badalamenti, Sampath Kumar Mulagaleti, Mario Eduardo Villanueva +2
Configuration-Constrained Tube Model Predictive Control (CCTMPC) offers flexibility by using a polytopic parameterization of invariant sets and the optimization of an associated ve…
Control Lyapunov Function Design via Configuration-Constrained Polyhedral Computing
Boris Houska, Matthias A. Müller, Mario E. Villanueva
This paper proposes novel approaches for designing control Lyapunov functions (CLFs) for constrained linear systems. We leverage recent configuration-constrained polyhedral computi…