Optimal control of a laboratory binary distillation column via regionless explicit MPC

This paper shows how to construct and implement explicit MPC feedback laws for systems with a large number of states. Specifically, the construction of critical regions of the explicit MPC solution is replaced by a two-step procedure. First, all optimal active sets are enumerated off-line and corresponding KKT matrices are pre-factored. Then, in the on-line step, the optimal control inputs are identified by checking primal and dual feasibility conditions using the pre-factored data. The feasibility and performance of the