A global piecewise smooth Newton method for fast large-scale model predictive control

In this paper, the strictly convex quadratic program (QP) arising in model predictive control for constrained linear systems is reformulated as a system of piecewise affine equations. A regularized piecewise smooth Newton method with exact line-search on a convex, differentiable, piecewise-quadratic merit function is proposed for the solution of the reformulated problem. The algorithm has considerable merits when applied to MPC over standard active set or interior point algorithms. Its performance is tested and compared against state-of-the art QP solvers on a series of benchmark problems. The proposed algorithm is orders of magnitudes faster, especially for large-scale problems and long horizons. For example, for the challenging crude distillation unit model of Pannocchia et al. (2006) with 252 states, 32 inputs and 90 outputs the average running time of the proposed approach is 1.57 ms.