A tube-based approach to nonlinear explicit MPC

Florian A. Bayer, Florian D. Brunner, Mircea Lazar, Marc Wijnand, Frank Allgöwer

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

4 Citations (Scopus)


We propose an approximate explicit model predictive control (MPC) scheme based on ideas in robust MPC. For every subset in a partial partition of the state space we solve a robust MPC problem offline, where the (only) uncertainty is the initial condition which may be any state in this particular subset. As a consequence, the control law defined by the solution of the MPC problem is valid for any state in the subset. The online computational effort reduces to a point location problem and application of the pre-computed MPC solution.
Original languageEnglish
Title of host publication2016 IEEE 55th Conference on Decision and Control (CDC 2016), December 12-14, 2016. Las Vegas, USA
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Electronic)978-1-5090-1837-6
Publication statusPublished - 2016
Event55th IEEE Conference on Decision and Control (CDC 2016) - Aria Resort and Casino, Las Vegas, United States
Duration: 12 Dec 201614 Dec 2016
Conference number: 55


Conference55th IEEE Conference on Decision and Control (CDC 2016)
Abbreviated titleCDC02016
Country/TerritoryUnited States
CityLas Vegas
Internet address


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