Efficiently Solving the Harmonic Model Predictive Control Formulation

Harmonic model predictive control (HMPC) is a (MPC) formulation that displays several benefits over other MPC formulations, especially when using small prediction horizon. These benefits, however, come at the expense of an optimization problem no longer typical quadratic programming derived from most linear formulations due to inclusion particular class second-order cone constraints. This article presents method for efficiently dealing with these constraints in operator splitting methods, leading computation time solving HMPC line state-of-the-art solvers MPC. We show how apply this result alternating direction multipliers algorithm, presenting solver we compare against literature, including formulations. The results proposed solver, and by extension formulation, suitable its implementation embedded systems.