Least-restrictive move-blocking model predictive control

The authors recently proposed an approach to enforce strong feasibility in moveblocking model predictive control problems. In this paper the approach is utilized to design strong model predictive control problems which generate least restrictive controllers. The domains of different move-blocking regimes are thus equal and the same as the non-moveblocking maximum. This allows comparison of different move-blocking regimes based on cost performance only, without considering domain size also. A numerical example and case study demonstrate that between inputand offset-move-blocking, the latter is generally superior.