Tutorial: Introduction to Interior Point Methods for Predictive Control

Eric Kerrigan (1)

1 Control and Power Research Group

Introduction and motivation (Why control & why feedback? ; Predictive control as a feedback strategy ) - Constrained LQR (CLQR) to Quadratic Program (QP) (Sampled-data CLQR and equivalent discrete-time CLQR ; Non-condensed and condensed QP formulations) -- Algorithms for solving QP (Interior point methods ; Exploiting structure of QP) - Hardware issues (Interaction between algorithm choice and hardware ; Parallel computation and pipelining) - Wrap-up and questions

Keywords: sadco

Domains: Optimization and Control [math.OC]

Eric Kerrigan. Tutorial: Introduction to Interior Point Methods for Predictive Control. SADCO Summer School 2011 - Optimal Control, Sep 2011, London, United Kingdom. ⟨inria-00629539⟩