MPC and constrained systems
A general methodology
Model predictive control is a form of control in which the current control action is obtained by solving, at each sampling instant, a finite horizon open-loop optimal control problem, using the current state of the plant as the initial state; the optimization yields an optimal control sequence and the first control in this sequence is applied to the plant. An important advantage of this type of control is its ability to cope with hard constraints on controls and states. It has, therefore, been widely applied in petro-chemical and related industries where satisfaction of constraints is particularly important because efficiency demands operating points on or close to the boundary of the set of admissible states and controls.
Its general formulation allows the application of the MPC control strategy to linear, nonlinear and hybrid systems, although the optimization problems to be solved on-line become increasingly complex (QP/LP, nonlinear optimization, and MIQP/MILP, respectively). Especially for hybrid systems, many fundamental properties of MPC have to be carefully re-examined. In a STW project on "MPC for hybrid systems" we studied these issues in detail, e.g. questions related to how to setup MPC schemes that guarantee attractivity, Lyapunov stability, robust stability (ISS), etc., for hybrid systems have been of interest.
Interestingly, for some classes of MPC strategies (linear systems with linear/quadratic costs and piecewise affine systems with linear costs) the optimal control law can also be expressed as piecewise affine functions of the state. For this so-called "explicit MPC" one no longer has to solve the optimization problems online. All this is appealing for various applications (e.g., for certification), the overall piecewise affine control law might be rather complex. Therefore, there recently was a major effort on approximate/suboptimal (explicit) MPC to obtain PWA control laws close to optimal, but much simpler in its implementation. We worked on this in the EU-FP7 project MOBYDIC for instance.
Our ideas have, amongst others, been applied to the design of adaptive cruise controllers and power converters.
Related Publications
-
Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks
2023
Orrico, C.A., van Berkel, M., Bosman, T., Heemels, W.P.M.H., Krishnamoorthy, D.
IEEE Control Systems Letters 7
-
Co-design of a controller and its digital implementation: The
MOBY-DIC2 toolbox for embedded model predictive control
2023
A. Ravera, A. Oliveri, M. Lodi, A. Bemporad, W.P.M.H. Heemels, E.C. Kerrigan, M. Storace
IEEE Transactions on Control Systems Technology
-
Target-conformal optimization-based actuator placement for
ultrasound-mediated hyperthermia in cancer treatments
2023
D.A. Deenen, L.C, Sebeke, B. de Jager, E. Heijman, H. Grüll, W.P.M.H. Heemels
IEEE Transactions on Control Systems Technology
-
Constraint-Adaptive MPC for linear systems: A system-theoretic
framework for speeding up MPC through online constraint removal
2023
S.A.N. Nouwens, M.M. Paulides, W.P.M.H. Heemels
Automatica 157, p. 111243
-
Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks
2023
C.A. Orrico, M. van Berkel, T. Bosman, W.P.M.H. Heemels, D. Krishnamoorthy
IEEE Conference on Decision and Control (CDC) 2023, Singapore "IEEE Control Systems Letters [joint with CDC]"
-
Model Predictive Control for Lane Merging Automation with Recursive Feasibility Guarantees
2023
M. Geurts, A. Katriniok, E. Silvas, W.P.M.H. Heemels
IFAC World Congress 2023, Yokohama, Japan
-
Discrete-time Control Barrier Functions for Guaranteed Recursive Feasibility in Nonlinear MPC: An Application to Lane Merging
2023
A. Katriniok, E. Shakhesi, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2023, Singapore
-
Optimal Stopping Problems in Low-Dimensional Feature Spaces: Lossless Conditions and Approximations
2023
M.J.T.C. van Zutphen, W.P.M.H. Heemels, D. Antunes
IEEE Conference on Decision and Control (CDC) 2023, Singapore
-
On the relationship between control barrier functions and projected dynamical systems
2023
G. Delimpaltadakis, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2023, Singapore
-
Accelerating soft-constrained MPC for linear systems through online constraint removal
2023
S.A.N. Nouwens, Maarten Paulides, W.P.M.H. Heemels,
IEEE Conference on Decision and Control (CDC) 2023, Singapore
-
Optimal irrigation allocation for large-scale arable farming
2022
A.T.J.R. Cobbenhagen, L.P.A. Schoonen, M.J.G. van de Molengraft , W.P.M.H. Heemels
IEEE Transactions on Control Systems Technology 30(4), p. 1484-1493
-
Finite-Horizon Minimal Realizations for Model Predictive Control of Large-Scale Systems
2022
T.J. Meijer, S.A.N. Nouwens, V.S. Dolk, B. de Jager, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2022, Cancun, Mexico, p. 1136-1141
-
Control allocation for an industrial high-precision transportation and positioning system
2021
R. Beerens, S.C.N. Thissen, W.C.M. Pancras, T.M.P. Gommans, N. van de Wouw, W.P.M.H. Heemels
IEEE Transactions on Control Systems Technology 29(2), p. 876-883
-
Visualization of thermal washout due to spatiotemporally heterogenous perfusion in the application of a model-based control algorithm for MR-HIFU mediated hyperthermia
2021
L. Christian Sebeke, P. Rademann, A.C. Maul, Sin Yuin Yeo, Juan Daniel Castillo Gómez, D.A. Deenen, P. Schmidt, Bram de Jager, W.P.M.H. Heemels, H. Grüll, E Heijman
International Journal of Hyperthermia 38(1), p. 1174-1187
-
Offset-free model predictive temperature control for ultrasound-based hyperthermia cancer treatments
2021
D.A. Deenen, E. Maljaars, L. Sebeke, B. de Jager, E. Heijman, H. Gruell, W.P.M.H. Heemels
IEEE Transactions on Control Systems Technology 29(6), p. 2351-2365
-
Constraint-adaptive MPC for large-scale systems: Satisfying state constraints without imposing them
2021
S.A.N. Nouwens, B. de Jager, M.M. Paulides, W.P.M.H. Heemels
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2021, Bratislava, Slovakia "IFAC PapersOnLine " 54(6), p. 232–237
-
Constraint Removal for MPC with Performance Preservation and a Hyperthermia Cancer Treatment Case Study
2021
S.A.N. Nouwens, B. de Jager, M. Paulides, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2021, Austin (Texas), USA, p. 4103-4108
-
Mixed-integer model predictive control for large-area MR-HIFU hyperthermia in cancer therapy
2020
D.A. Deenen, E. Maljaars, L. Sebeke, B. de Jager, E. Heijman, H. Grull, W.P.M.H. Heemels
IFAC World Congress 2020, Berlin, Germany "IFAC PapersOnLine" 53(2), p. 6637-6643
-
Model Predictive Control for MR-HIFU-Mediated, Uniform Hyperthermia
2019
L. Sebeke, D.A. Deenen, E. Maljaars, B. de Jager, E. Heijman, W.P.M.H. Heemels, H. Grüll
International Journal of Hyperthermia 36(1), p. 1040--1050
-
Optimal irrigation management for large-scale arable farming using model predictive control
2019
L.P.A. Schoonen, A.T.J.R. Cobbenhagen, W.P.M.H. Heemels
6th IFAC Conference on Sensing, Control, and Automation in Agriculture 2019 (AGRICONTROL2019), Sydney, Australia "IFAC PapersOnLine" Pap_Onl 52(30), p. 56–61
-
A System-Theoretic Approach to Construct a Banded Null Basis
to Efficiently Solve MPC-Based QP Problems
December, 2019
Jiaheng Yang, T.J. Meijer, V.S. Dolk, B. de Jager, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2019, Nice, France, p. 1410-1415
-
Offset-Free MPC for Resource Sharing on a Nonlinear SCARA Robot
2018
Bianchi, M., van der Maas, A., Maljaars, B., Heemels, W.P.M.H.
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2018, Madison, WI, USA "[IFAC-PapersOnline]" 51-20, p. 265–272
-
Offset-Free Model Predictive Control for Enhancing MR-HIFU Hyperthermia in Cancer Treatment
2018
Deenen, D.A., Maljaars, B., Sebeke, L., de Jager, B. Heijman, E., Grull, H., Heemels, W.P.M.H>
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2018, Madison, WI, USA "[IFAC-PapersOnline]" 51-20, p. 191–196
-
Control allocation for a high-precision linear transport system
2018
R. Beerens, S.C.N. Thissen, A. van der Maas, W.C.M. Pancras,
T.M.P. Gommans, N. van de Wouw, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2018, Miami, Fl, USA, p. 1657-1662
-
Heterogeneous Multi-Agent Resource Allocation through Multi-Bidding with Applications to Precision Agriculture
2018
Cobbenhagen, R., Antunes, D., Van de Molengraft, R. Heemels, W.P.M.H.
7th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2018, Groningen, The Netherlands "[IFAC-PapersOnline]" 51-23, p. 194–199
-
Resource-aware MPC for constrained linear systems: Two rollout approaches
2017
T.M.P. Gommans, D. Antunes, W.P.M.H. Heemels
Journal of Process Control 51, p. 68–83
-
Optimal Control for Integrated Emission Management in Diesel Engines
2017
M.C.F. Donkers, J. van Schijndel, W.P.M.H. Heemels, F.P.T. Willems
Control Engineering Practice 61, p. 206–216
-
Robust Event-triggered MPC With Guaranteed Asymptotic Bound and Average Sampling Rate
2017
F.D. Brunner, W.P.M.H. Heemels, F. Allgower
IEEE Transactions on Automatic Control 62(11), p. 5694 - 5709
-
Optimal control of a wave energy converter
August, 2017
B Hendrikx, J. Leth, P. Andersen, W.P.M.H. Heemels
Conference on Control Technology and Applications (CCTA) 2017, Hawaii, p. 779-786
-
Model predictive control algorithm for large-area regional
hyperthermia
2016
L. Sebeke, Xi Luo, B. de Jager, W.P.M.H. Heemels, E. Heijman, H. Gruell
Journal of Therapeutic Ultrasound 4, p. A173
-
Robust Self-Triggered MPC for Constrained Linear Systems: A Tube-Based Approach
2016
F.D. Brunner, W.P.M.H. Heemels, F. Allgower
Automatica 72, p. 73-83
-
Numerical Evaluation of a Robust Self-Triggered MPC Algorithm
2016
F.D. Brunner, W.P.M.H. Heemels, F. Allgower
6th IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2016, Tokio, Japan "[IFAC-PapersOnline]" 49-22, p. 151–156
-
Resource-aware MPC for Constrained Nonlinear Systems:
A Self-Triggered Control Approach
May, 2015
T.M.P. Gommans and W.P.M.H. Heemels
Systems and Control Letters 79, p. 59-67
-
Robust Event-Triggered MPC for Constrained Linear Discrete-Time Systems with Guaranteed Average Sampling Rate
2015
F.D. Brunner, W.P.M.H. Heemels, F. Allgower
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2015, Seville, Spain "(IFAC-PapersOnLine, Volume 48, Issue 23, 2015, Pages 117-122)", p. 117-122
-
Modeling, observer design and robust control of the particle density profile in tokamak plasmas
2015
T.C. Blanken, F. Felici, M. De Baar, W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2015, Osaka, Japan, p. 7628 - 7635
-
Robust Self-Triggered Model Predictive Control for Constrained
Discrete-Time LTI Systems based on Homothetic Tubes
2015
E. Aydiner, F.D. Brunner, W P.M.H. Heemels, F. Allgower
European Control Conference (ECC), 2015, Linz, Austria, p. 1587-1593
-
Communication Scheduling in Robust Self-Triggered MPC for Linear Discrete-Time Systems
2015
F.B. Brunner, T.M.P. Gommans, W.P.M.H. Heemels, F. Allgower
IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS) 2015, Philadelphia, USA "(IFAC-PapersOnLine, Volume 48, Issue 22, 2015, Pages 132-137)", p. 132-137
-
Set-Based MPC with an Application to Enhanced Local Hyperthermia for Cancer Treatment
2015
Xi Luo, B. de Jager, E. Heijman, W.P.M.H. Heemels
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2015, Seville, Spain "(IFAC-PapersOnLine, Volume 48, Issue 23, 2015, Pages 477-482)", p. 477-482
-
Stabilizing Dynamic Control Design for Hybrid Systems: A Hybrid Control Lyapunov Function Approach
May, 2014
S. Di Cairano, W.P.M.H. Heemels, M. Lazar, A. Bemporad
IEEE Transactions on Automatic Control 59(10), p. 2629-2643
-
Dynamic Programming for Integrated Emission Management in Diesel Engines
August, 2014
J.C.A. van Schijndel, M.C.F. Donkers, F. Willems and W.P.M.H. Heemels
IFAC World Congress 2014, Cape Town, South Africa, p. 11860-11865
-
Robust Self-Triggered MPC for Constrained Linear Systems
June, 2014
F.D. Brunner, W.P.M.H. Heemels and F. Allgower
European Control Conference (ECC) 2014, Strasbourg, France, p. 472-477
-
Optimal cost-NOx trade-off in Diesel Engines by Integrated Emission Management
June, 2014
J. van Schijndel, M.C.F. Donkers, F.P.T. Willems, W.P.M.H. Heemels
FISITA 2014, Maastricht
-
Further Input-to-State Stability Subtleties for Discrete-time Systems
June, 2013
M. Lazar, W.P.M.H. Heemels, and A.R. Teel
IEEE Transactions on Automatic Control 58(6), p. 1609-1613
-
Hybrid Control Lyapunov Functions for Stabilization of Hybrid Systems
April, 2013
S. Di Cairano, W.P.M.H. Heemels, M. Lazar and A. Bemporad
Hybrid Systems: Computation and Control (HSCC) 2013, Philadelphia, USA, p. 73-82
-
FPGA implementations of piecewise affine functions based on multi-resolution hyper-rectangular partitions
December, 2012
F. Comaschi, B.A.G. Genuit, A. Oliveri, W.P.M.H. Heemels and M. Storace
IEEE Transactions on Circuits and Systems 59(12), p. 2920-2933
-
Approximation of Explicit MPC Using Regular PWA Functions: An ISS Approach
May, 2012
B.A.G. Genuit, L. Lu, W.P.M.H. Heemels
IET Control Theory & Applications "Special Issue: Implementation of Feedback Controllers on Special-Purpose Hardware" 6(8), p. 1015-1028
-
Linear Control of Time Domain Constrained Systems
May, 2012
W. Aangenent, W.P.M.H. Heemels, M.J.G. van de Molengraft, D. Henrion, and M. Steinbuch
Automatica 48(5), p. 736-746
-
A Unified Numerical Scheme for Linear-Quadratic Optimal Control Problems with Joint Control and State Constraints
September, 2012
L. Han, M.K. Camlibel, J.-S. Pang and W.P.M.H. Heemels
Optimization Methods & Software "Special Issue" 27(4-5), p. 761-799
-
MOBY-DIC: A MATLAB Toolbox for circuit-oriented design of explicit MPC
August, 2012
A. Oliveri, D. Barcelli, A. Bemporad, B.A.G. Genuit, W.P.M.H. Heemels, T. Poggi, M. Rubagotti and M. Storace
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2012, Noordwijkerhout, The Netherlands, p. 218-225
-
Self-triggered MPC for constrained linear systems and quadratic costs
August, 2012
J.D.J. Barradas Berglind, T.M.P. Gommans and W.P.M.H. Heemels
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2012, Noordwijkerhout, The Netherlands, p. 342-348
-
Approximation of PWA Control Laws Using Regular Partitions: An ISS Approach
September, 2011
B.A.G. Genuit, L. Lu and W.P.M.H. Heemels
IFAC Word Conference 2011, Milano, Italy, p. 4540-4545
-
Synthesis of low-complexity stabilizing piecewise affine controllers: A control-Lyapunov function approach
December, 2011
L. Lu, W.P.M.H. Heemels and A. Bemporad
IEEE Conference on Decision and Control (CDC) 2011, Orlando, USA, p. 1227-1232
-
Low-complexity Approximations of PWA Functions: a Case Study on Adaptive Cruise Control
August, 2011
A. Oliveri, G.J.L. Naus, M. Storace and W.P.M.H. Heemels
European conference on circuit theory and design (ECCTD) 2011, Linköping, Sweden, p. 694-697
-
Reference Governors for Controlled Belt Restraint Systems
2010
E.P. van der Laan, W.P.M.H. Heemels, H. Luijten, F.E. Veldpaus and M. Steinbuch
Vehicle System Dynamics 48(7), p. 831-850
-
Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach
April, 2010
G.J.L. Naus, J. Ploeg, M.J.G. van de Molengraft, W.P.M.H. Heemels and M. Steinbuch
Control Engineering Practice 18(8), p. 882-892
-
A Model Predictive Control Approach for Stochastic Networked Control Systems
September, 2010
D. Bernardini, M.C.F. Donkers, A. Bemporad and W.P.M.H. Heemels
IFAC Workshop on Distributed Estimation and Control in Networked Systems (NECSYS), Annecy, France, p. 7-12
-
On Integration of Event-based Estimation and Robust MPC in a Feedback Loop
April, 2010
J. Sijs, M. Lazar and W.P.M.H. Heemels
Hybrid Systems: Computation and Control (HSCC) 2010, Stockholm, Sweden, p. 31-41
-
Convergence of Discrete-time Approximations of Constrained Linear-Quadratic Optimal Control Problems
December, 2010
L. Han, M.K. Camlibel, J.-S. Pang and W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2010, Atlanta, USA, p. 5210-5215
-
A Model Predictive Control Approach to Design a Parameterized Adaptive Cruise Control
2010
G.J.L. Naus, J. Ploeg, M.J.G. van de Molengraft, W.P.M.H. Heemels and M. Steinbuch
in "Automotive Model Predictive Control Models: Methods and Applications", Springer 17, p. 273-284
-
Predictive control of hybrid systems: Input-to-state stability results for sub-optimal solutions
January, 2009
M. Lazar and W.P.M.H. Heemels
Automatica 45(1), p. 180-185
-
Linear Control of Time-Domain Constrained Systems
December, 2009
W.H.T.M. Aangenent, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
IEEE Conference on Decision and Control (CDC) 2009, Shanghi, China, p. 5339-5344
-
Self-optimizing Robust Nonlinear Model Predictive Control
2009
M. Lazar, W.P.M.H. Heemels and A. Jokic
in "Assessment and Future Directions of Nonlinear Model Predictive Control, Lecture Notes in Control and Information Sciences", Springer 384, p. 27-40
-
Further results on "Robust MPC using Linear Matrix Inequalities"
2009
M. Lazar, W.P.M.H. Heemels, D. Munoz de la Pena and T. Alamo
in "Assessment and Future Directions of Nonlinear Model Predictive Control, Lecture Notes in Control and Information Sciences", Springer 384, p. 89-98
-
On input-to-state stability of Min-max Nonlinear Model Predictive Control
January, 2008
M. Lazar, D. Munoz de la Pena, W.P.M.H. Heemels and T. Alamo
Systems and Control Letters 57(1), p. 39-48
-
Input-to-state stabilizing sub-optimal NMPC with an application to DC-DC converters
April, 2008
M. Lazar, W.P.M.H. Heemels, B.J.P. Roset, H. Nijmeijer and P.P.J. v.d. Bosch
International Journal of Robust and Nonlinear Control 18(8), p. 890-904
-
On robustness of constrained discrete-time systems to state measurement errors
April, 2008
B.J.P. Roset, W.P.M.H. Heemels, M. Lazar and H. Nijmeijer
Automatica 44(4), p. 1161-1165
-
Optimized input-to-state stabilization of discrete-time nonlinear systems with bounded inputs
June, 2008
M. Lazar and W.P.M.H. Heemels
American Control Conference (ACC) 2008, Seattle, USA, p. 2310-2315
-
Reference governors for controlled belt restraint systems
September, 2008
E.P. van der Laan, H.J.C. Luijten, F.E. Veldpaus, W.P.M.H. Heemels and M. Steinbuch
International Conference on Vehicular Electronics and Safety (ICVES) in Columbus, Ohio, USA, p. 114-119
-
Null controllability of discrete-time linear systems with input and state constraints
December, 2008
W.P.M.H. Heemels and M.K. Camlibel
IEEE Conference on Decision and Control (CDC) 2008, Cancun, Mexico, p. 3487-3492
-
Predictive control of hybrid systems: Stability results for suboptimal solutions
July, 2008
M. Lazar and W.P.M.H. Heemels
IFAC World Congress 2008, Seoul, Korea, p. 11196-1120
-
Self-optimizing robust nonlinear model predictive control
2008
M. Lazar, W.P.M.H Heemels and A. Jokic
International Workshop on Assessment and Future Directions of Nonlinear MPC (NMPC) 2008, Pavia, Italy
-
Design of ISS-Lyapunov functions for discrete-time linear uncertain systems
July, 2008
T. Alamo, D. Munoz de la Pena, M. Lazar and W.P.M.H. Heemels
IFAC World Congress 2008, Seoul, Korea
-
Further results on robust MPC using linear matrix inequalities
2008
M. Lazar, W.P.M.H Heemels, D. Munoz de la Pena and T. Alamo
International Workshop on Assessment and Future Directions of Nonlinear MPC (NMPC) 2008, Pavia, Italy
-
A Control Lyapunov Approach to Predictive Control of Hybrid Systems
2008
S. Di Cairano, M. Lazar, A. Bemporad and W.P.M.H. Heemels
in "Lecture Notes in Computer Science. 11th International Workshop on Hybrid Systems: Computation and Control 2008, St. Louis, USA", Springer, p. 130-143
-
Nonlinear Control of Linear Motion Systems: An Exploratory Study
2008
W.H.T.M. Aangenent
Eindhoven University of Technology "PhD Thesis"
-
Squaring the circle: An algorithm for generating polyhedral invariant sets from ellipsoidal ones
December, 2007
A. Alessio, M. Lazar, A. Bemporad and W.P.M.H. Heemels
Automatica 43(12), p. 2096-2103
-
Controllability of linear systems with input and state constraints
December, 2007
W.P.M.H. Heemels and M.K. Camlibel
IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 536-541
-
Assessment of nonlinear predictive control techniques for DC-DC converters
August, 2007
A.G. Beccuti, M. Lazar, W.P.M.H. Heemels, G. Papafotiou and M. Morari
NOLCOS 2007, Pretoria, South-Africa
-
Design of stabilizing output feedback nonlinear model predictive controllers with an application to DC-DC converters
July, 2007
B.J.P. Roset, M. Lazar, W.P.M.H. Heemels and H. Nijmeijer
European Control Conference (ECC) 2007, Kos, Greece, p. 2999-3004
-
New methods for computing the terminal cost for min-max model predictive control
June, 2007
M. Lazar, D. Munoz de la Pena, W.P.M.H. Heemels and T. Alamo
American Control Conference (ACC) 2007, New York, USA, p. 4476-4481
-
H2 performance analysis of reset control systems
December, 2007
G. Witvoet, W.H.T.M. Aangenent, W.P.M.H. Heemels, M.J.G. van de Molengraft and M. Steinbuch
IEEE Conference on Decision and Control (CDC) 2007, New Orleans, USA, p. 3278-3284
-
Discrete-time non-smooth nonlinear MPC: Stability and input-to-state stability
2007
M. Lazar, W.P.M.H. Heemels, A. Bemporad and S. Weiland
in "Lecture Notes in Control and Information Sciences, Assessment and Future Directions of Nonlinear Model Predictive Control", Springer, p. 93-109
-
Stabilizing Model Predictive Control of Hybrid Systems
November, 2006
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
IEEE Transactions on Automatic Control 51(11), p. 1813-1818
-
A new dual-mode hybrid MPC algorithm with a robust stability guarantee
June, 2006
M. Lazar and W.P.M.H. Heemels
IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2006, Alghero, Italy, p. 321-328
-
Min-max nonlinear model predictive control with guaranteed input-to-state stability
October, 2006
M. Lazar, D. Munoz de la Pena, W.P.M.H. Heemels and T. Alamo
International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2006, Kyoto, Japan
-
A stabilizing output-based nonlinear model predictive control scheme
December, 2006
B.J.P. Roset, M. Lazar, W.P.M.H. Heemels and H. Nijmeijer
IEEE Conference on Decision and Control (CDC) 2006, San Diego, USA, p. 4627-4632
-
Stabilizing output feedback nonlinear model predictive control: An extended observer approach
2006
B.J.P. Roset, M. Lazar, H. Nijmeijer and W.P.M.H. Heemels
International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2006, Kyoto, Japan 2006, p. 771-781
-
Squaring the circle: An algorithm for generating polyhedral invariant sets from ellipsoidal ones
June, 2006
M. Lazar, A. Alessio, A., Bemporad and W.P.M.H. Heemels
American Control Conference (ACC) 2006, Minneapolis, USA, p. 3007-3012
-
Polyhedral invariant sets for closed-loop linear MPC systems
December, 2006
A. Alessio, A. Bemporad, M. Lazar and W.P.M.H. Heemels
IEEE Conference on Decision and Control (CDC) 2006, San Diego, USA, p. 4532-4537
-
A hybrid MPC approach to the design of a Smart adaptive cruise controller
October, 2006
D. Corona, M. Lazar, B. De Schutter and W.P.M.H. Heemels
International Conference on Control Applications (CCA) 2006, Munich, Germany, p. 231-236
-
ISS sub-optimal nonlinear MPC algorithms with an application to DC-DC converters
2006
M. Lazar, B.J.P. Roset, W.P.M.H. Heemels, H. Nijmeijer and P.P.J. v.d. Bosch
IFAC Workshop on Nonlinear Model Predictive Control for Fast systems 2006, Genoble, France
-
Model Predictive Control of Hybrid Systems: Stability and Robustness
2006
M. Lazar
Eindhoven University of Technology "PhD Thesis"
-
Energy Management Strategies for Vehicular Electric Power Systems
May, 2005
M.W.T. Koot, J.T.B.A. Kessels, A.G. de Jager, W.P.M.H. Heemels, P.P.J. van den Bosch and M. Steinbuch
IEEE Transactions on Vehicular Technology 54(3), p. 771-782
-
Control of PWA systems using a stable receding horizon method
July, 2005
I. Necoara, B. De Schutter, W.P.M.H. Heemels, S. Weiland, M.. Lazar and T.T.J. van den Boom
IFAC World Congress on Automatic Control 2006, Prague
-
On the stability of quadratic forms based model predictive control of constrained PWA systems
June, 2005
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
American Control Conference (ACC) 2005, Portland, USA, p. 575-580
-
On the stability and robustness of non-smooth nonlinear model predictive control
2005
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
International Workshop on Assessment and Future Directions of Nonlinear MPC (NMPC) 2005, Freudenstadt-Lauterbad, Germany, p. 3-10
-
Infinity norms as Lyapunov functions for model predictive control of constrained PWA systems
2005
M. Lazar, W.P.M.H. Heemels, S. Weiland, A. Bemporad and O. Pastravanu
in "Hybrid Systems: Computation and Control 2005, Lecture Notes in Computer Science", Springer 3414, p. 417-432
-
Energy management strategies for vehicle power nets
June, 2004
M. Koot, B. de Jager, J.T.B.A. Kessels, W.P.M.H. Heemels and P.P.J. van den Bosch
American Control Conference (ACC) 2004, Boston, USA, p. 4072-4077
-
Stabilization conditions for model predictive control of constrained PWA systems
December, 2004
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
IEEE Conference on Decision and Control (CDC) 2004, Bahamas, p. 4595-4600
-
Stabilizing receding horizon control of piecewise linear systems
2004
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2004, Leuven, Belgium
-
A semi-explicit MPC set-up for constrained piecewise affine systems
2003
M. Lazar and W.P.M.H. Heemels
European Control Conference (ECC) 2003, Cambridge, U.K.
-
Advanced energy management strategies for vehicle power nets
2003
E.H.J.A. Nuijten, M.W.T. Koot, J.T.B.A. Kessels, M. Eifert, A.G. de Jager, W.P.M.H. Heemels and P.P.J. van den Bosch
International congress on “European automotive industry driving global changes” 2003, Paris, France
-
Positive feedback stabilization of centrifugal compressor surge
February, 2002
F.P.T. Willems, W.P.M.H. Heemels, A.G. de Jager and A.A. Stoorvogel
Automatica 38(2), p. 311-318
-
On hybrid systems and closed-loop MPC systems
May, 2002
A. Bemporad, W.P.M.H. Heemels and B. De Schutter
IEEE Transactions on Automatic Control 47(5), p. 863-869
-
Max-plus-algebraic problems and the extended linear complementarity problem — algorithmic aspects
2002
B. De Schutter, W.P.M.H. Heemels and A. Bemporad
IFAC World Congress 2002, Barcelona, Spain
-
On hybrid systems and closed-loop MPC systems
December, 2001
A. Bemporad, W.P.M.H. Heemels and B. De Schutter
IEEE Conference on Decision and Control (CDC) 2001, Orlando, USA, p. 1645-1649
-
Positive feedback stabilization of surge in a centrifugal compressor
December, 1999
F. Willems, W.P.M.H. Heemels, B. de Jager and A.A. Stoorvogel
IEEE Conference on Decision and Control (CDC) 1999, Phoenix, USA, p. 3295-3300
-
Linear Quadratic Regulator Problem with Positive Controls
1998
W.P.M.H. Heemels, S.J.L. van Eijndhoven and A.A. Stoorvogel
International Journal of Control 70(4), p. 551-578
-
Linear quadratic regulator problem with positive controls
1997
W.P.M.H. Heemels, S.J.L. van Eijndhoven and A.A. Stoorvogel
European Control Conference (ECC) 1997, Brussels, Belgium
-
Optimal control of a linear control system with positive inputs
1996
W.P.M.H. Heemels, S.J.L. van Eijndhoven and A.A. Stoorvogel
International Symposium on Mathematical Theory of Networks and Systems (MTNS) 1996, St. Louis, USA
-
Optimal positive control and optimal control with positive state entries
1995
W.P.M.H. Heemels
Eindhoven University of Technology "M.S.c. thesis"