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Predictive Control for linear and h
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ii Preface Dynamic optimization has
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iv book, in Chapter 3 we introduce
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vi Acknowledgements Large part of t
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viii Contents III Optimal Control 1
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x Contents Symbols and Acronyms Log
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xii Contents Dynamical Systems x(k)
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Chapter 1 Main Concepts In this Cha
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1.1 Optimization Problems 5 Active,
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1.2 Convexity 7 Operations preservi
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Chapter 2 Optimality Conditions 2.1
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2.2 Lagrange Duality Theory 11 wher
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2.3 Complementary Slackness 13 Note
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2.4 Karush-Kuhn-Tucker Conditions 1
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2.4 Karush-Kuhn-Tucker Conditions 1
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Chapter 3 Polyhedra, Polytopes and
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3.2 Polyhedra Definitions and Repre
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3.2 Polyhedra Definitions and Repre
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3.3 Polytopal Complexes 25 Definiti
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3.4 Basic Operations on Polytopes 2
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3.4 Basic Operations on Polytopes 2
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3.4 Basic Operations on Polytopes 3
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3.4 Basic Operations on Polytopes 3
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3.4 Basic Operations on Polytopes 3
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3.5 Operations on P-collections 37
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3.5 Operations on P-collections 39
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3.5 Operations on P-collections 41
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3.5 Operations on P-collections 43
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Chapter 4 Linear and Quadratic Opti
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4.1 Linear Programming 47 4.1.2 Dua
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4.1 Linear Programming 49 x2 c =
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4.1 Linear Programming 51 J(z) 6 5
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4.2 Quadratic Programming 53 0.5z
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4.3 Mixed-Integer Optimization 55 A
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4.3 Mixed-Integer Optimization 57 4
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Part II Multiparametric Programming
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62 5 General Results for Multiparam
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64 5 General Results for Multiparam
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66 5 General Results for Multiparam
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68 5 General Results for Multiparam
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70 5 General Results for Multiparam
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72 5 General Results for Multiparam
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74 6 Multiparametric Programming: a
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76 6 Multiparametric Programming: a
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78 6 Multiparametric Programming: a
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80 6 Multiparametric Programming: a
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82 6 Multiparametric Programming: a
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84 6 Multiparametric Programming: a
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86 6 Multiparametric Programming: a
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88 6 Multiparametric Programming: a
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90 6 Multiparametric Programming: a
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92 6 Multiparametric Programming: a
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94 6 Multiparametric Programming: a
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96 6 Multiparametric Programming: a
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98 6 Multiparametric Programming: a
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100 6 Multiparametric Programming:
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- Page 131 and 132: Chapter 7 General Formulation and D
- Page 133 and 134: 7.2 Solution via Batch Approach 119
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- Page 141 and 142: 7.5 Lyapunov Stability 127 - asympt
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- Page 165: Part IV Constrained Optimal Control
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- Page 209 and 210: Chapter 11 Receding Horizon Control
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11.3 RHC Main Issues 203 11.3 RHC M
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11.3 RHC Main Issues 205 Theorem 11
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11.3 RHC Main Issues 207 is continu
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11.4 State Feedback Solution of RHC
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11.4 State Feedback Solution of RHC
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11.4 State Feedback Solution of RHC
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11.5 State Feedback Solution of RHC
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11.5 State Feedback Solution of RHC
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11.7 Offset-Free Reference Tracking
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11.7 Offset-Free Reference Tracking
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11.7 Offset-Free Reference Tracking
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11.7 Offset-Free Reference Tracking
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11.8 Literature Review 227 The main
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x 2 5 0 11.8 Literature Review 229
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11.8 Literature Review 231 x 2 15 1
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Chapter 12 Constrained Robust Optim
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12.2 Robust Invariant Sets 235 Comp
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12.2 Robust Invariant Sets 237 We c
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12.2 Robust Invariant Sets 239 x2 1
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12.2 Robust Invariant Sets 241 By u
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12.2 Robust Invariant Sets 243 subj
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12.2 Robust Invariant Sets 245 x2 1
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12.3 Problem Formulation 247 Open-L
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12.3 Problem Formulation 249 for j
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12.4 Feasible Solutions 251 instant
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12.4 Feasible Solutions 253 Batch A
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12.5 State Feedback Solution, 1-Nor
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12.5 State Feedback Solution, 1-Nor
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12.5 State Feedback Solution, 1-Nor
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12.6 Parametrizations of the Contro
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12.7 Example 263 We denote with X M
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12.8 Robust Receding Horizon Contro
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Chapter 13 On-line Control Computat
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13.2 Efficient On-Line Algorithms 2
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13.2 Efficient On-Line Algorithms 2
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13.2 Efficient On-Line Algorithms 2
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13.2 Efficient On-Line Algorithms 2
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13.2 Efficient On-Line Algorithms 2
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13.4 Literature Review 279 solution
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Part V Constrained Optimal Control
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284 14 Models of Hybrid Systems eve
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286 14 Models of Hybrid Systems is
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288 14 Models of Hybrid Systems whe
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290 14 Models of Hybrid Systems Pos
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292 14 Models of Hybrid Systems Log
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294 14 Models of Hybrid Systems tha
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296 14 Models of Hybrid Systems whe
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298 14 Models of Hybrid Systems whe
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300 14 Models of Hybrid Systems By
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302 14 Models of Hybrid Systems SYS
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304 14 Models of Hybrid Systems /*
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306 14 Models of Hybrid Systems The
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308 14 Models of Hybrid Systems Sta
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310 14 Models of Hybrid Systems for
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312 15 Optimal Control of Hybrid Sy
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314 15 Optimal Control of Hybrid Sy
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316 15 Optimal Control of Hybrid Sy
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318 15 Optimal Control of Hybrid Sy
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320 15 Optimal Control of Hybrid Sy
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322 15 Optimal Control of Hybrid Sy
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324 15 Optimal Control of Hybrid Sy
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326 15 Optimal Control of Hybrid Sy
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328 15 Optimal Control of Hybrid Sy
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330 15 Optimal Control of Hybrid Sy
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332 15 Optimal Control of Hybrid Sy
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334 15 Optimal Control of Hybrid Sy
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336 15 Optimal Control of Hybrid Sy
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338 15 Optimal Control of Hybrid Sy
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340 15 Optimal Control of Hybrid Sy
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342 References [11] D. Avis. lrs: A
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344 References [38] A. Bemporad, M.
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346 References [67] P.J. Campo and
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348 References [95] A V. Fiacco. In
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350 References [124] E. Guslitzer.
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352 References [151] S.S. Keerthi a
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354 References [180] D.Q. Mayne. Co
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356 References [209] S.J. Qin and T
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358 References [235] J. Spjotvold,