1.2k citations · 1.7k across the 52 of their papers we have counts for
9 papers · 1 filter
Harmonic model predictive control for tracking sinusoidal references and its application to trajectory tracking
Pablo Krupa, Daniel Limon, Alberto Bemporad +1
Harmonic model predictive control (HMPC) is a recent model predictive control (MPC) formulation for tracking piece-wise constant references that includes a parameterized artificial…
Data-Driven Synthesis of Configuration-Constrained Robust Invariant Sets for Linear Parameter-Varying Systems
Manas Mejari, Sampath Kumar Mulagaleti, Alberto Bemporad
We present a data-driven method to synthesize robust control invariant (RCI) sets for linear parameter-varying (LPV) systems subject to unknown but bounded disturbances. A finite-l…
Computation of safe disturbance sets using implicit RPI sets
Sampath Kumar Mulagaleti, Alberto Bemporad, Mario Zanon
Given a stable linear time-invariant (LTI) system subject to output constraints, we present a method to compute a set of disturbances such that the reachable set of outputs matches…
Parameter Dependent Robust Control Invariant Sets for LPV Systems with Bounded Parameter Variation Rate
Sampath Kumar Mulagaleti, Manas Mejari, Alberto Bemporad
Real-time measurements of the scheduling parameter of linear parameter-varying (LPV) systems enables the synthesis of robust control invariant (RCI) sets and parameter dependent co…
Self-concordant smoothing in proximal quasi-Newton algorithms for large-scale convex composite optimization
Adeyemi D. Adeoye, Alberto Bemporad
We introduce a notion of self-concordant smoothing for minimizing the sum of two convex functions, one of which is smooth and the other nonsmooth. The key highlight is a natural pr…
Specification-Guided Critical Scenario Identification for Automated Driving
Adam Molin, Edgar A. Aguilar, Dejan Ničković +3
To test automated driving systems, we present a case study for finding critical scenarios in driving environments guided by formal specifications. To that aim, we devise a framewor…
Certification of the proximal gradient method under fixed-point arithmetic for box-constrained QP problems
Pablo Krupa, Omar Inverso, Mirco Tribastone +1
In safety-critical applications that rely on the solution of an optimization problem, the certification of the optimization algorithm is of vital importance. Certification and subo…
Counter-example guided inductive synthesis of control Lyapunov functions for uncertain systems
Daniele Masti, Filippo Fabiani, Giorgio Gnecco +1
We propose a counter-example guided inductive synthesis (CEGIS) scheme for the design of control Lyapunov functions and associated state-feedback controllers for linear systems aff…
Global and Preference-based Optimization with Mixed Variables using Piecewise Affine Surrogates
Mengjia Zhu, Alberto Bemporad
Optimization problems involving mixed variables (i.e., variables of numerical and categorical nature) can be challenging to solve, especially in the presence of mixed-variable cons…