FMPC: a fast implementation of model predictive control
Abstract
In this paper, Set Membership functions estimation methodology is employed in theapproximation of a given predictive control law. This is obtained via the evaluation of anapproximating function with a desired level of accuracy, fulfilling input and/or state constraintand whose computational time is independent on the MPC control horizon. Then, as the controlcomputation is simply reduced to the evaluation of a static non linear function, the computationaltime are significantly reduced leading to a ``Fast'' Model Predictive Control implementation(FMPC). The application to a semi-active suspension controldesign will show the properties of the proposed methodology.
