Reducing the computational effort of min-max model predictive control with regional feedback laws

Abstract Recently, a regional MPC approach has been proposed that exploits the piecewise affine structure of optimal solution (without computing entire explicit before). Here, refers to idea using feedback law is in vicinity current state operation, and therefore provides input signal without requiring solve QP. In present paper, we apply min-max problems. We show new robust can significantly reduce number QPs be solved within resulting reduced overall computational effort. Moreover, compare performance an existing numerical example with varying horizon. Finally, provide rule for choosing suitable based on