Self-triggered MPC for constrained linear systems and quadratic costs

J.D.J. Barradas Berglind, T.M.P. Gommans, W.P.M.H. Heemels

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

45 Citations (Scopus)


Self-triggered control is a recently proposed control paradigm that abandons the conventional periodic sampling of outputs and updating of control values with the objective to reduce the utilization of communication resources, while still guaranteeing desirable closedloop behaviour. Self-triggered control consists of two elements, namely a feedback controller that computes the next control input, and a triggering mechanism that determines what the next control update time will be. In this paper we present a self-triggered MPC strategy based on quadratic costs, which applies to discrete-time linear systems subject to state and input constraints. This self-triggered MPC law possesses three important features. First of all, the control law is designed such that a priori chosen (sub)optimality levels are guaranteed next to asymptotic stability and constraint satisfaction. Secondly, it is one of the first approaches, which addresses the joint design of both the feedback controller and the triggering mechanism. Thirdly, it realizes significant reductions in the usage of network resources and avoids bursts in communication. These beneficial features and various implementation aspects of the proposed self-triggered MPC strategy will be discussed in detail.

Original languageEnglish
Title of host publicationNMPC'12 - IFAC Conference on Nonlinear Model Predictive Control, Conference Program
Number of pages7
ISBN (Print)9783902823076
Publication statusPublished - 9 Oct 2012
Event4th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2012) - Noordwijkerhout, Netherlands
Duration: 23 Aug 201227 Aug 2012
Conference number: 4

Publication series

NameIFAC Proceedings volumes


Conference4th IFAC Conference on Nonlinear Model Predictive Control (NMPC 2012)
Abbreviated titleNMPC 2012

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