A Parallel Vector-form $LD{L}^{\top }$ Decomposition for Accelerating Execution-time-certified ${\ell }_1$-penalty Soft-constrained MPC

Liang Wu, Liwei Zhou, Richard D. Braatz

Handling possible infeasibility and providing an execution time certificate are two pressing requirements of real-time Model Predictive Control (MPC). To meet these two requirement…