Efficient algorithms for predictive control of systems with bounded inputs
Predictive control of systems described by the difference equation \(A(d)y_k=B(d)u_{k-1}\) with bounded inputs is considered. The cost function of the optimal control problem to be solved at each time is \( J=\sum_{k=1}^N(y_k^2+\rho u_{k-1}^2)\), \(\rho>0\). The solution to the corresponding ``box constrained quadratic programming problem is based on the ``active set method. It is shown that, like in the unconstrained case, dynamic programming can be exploited in order to achieve a significant computational reduction with respect to static programming. Due to a new algorithm, based on polynomial rotations the computational complexity is reduced by a factor of \(N/n\), \(n\) being the system order and \(N\) the control horizon. For the entire collection see [Zbl 0892.00024].
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