Suboptimal MPC with a Computation Governor: Stability, Recursive Feasibility, and Applications to ADMM

2024/11/12 by Steven van Leeuwen, van Leeuwen, Steven, Ilya Kolmanovsky +1 · 1 citation
Chemistry · Engineering · Materials Science · #Advanced Control Systems Optimization #Catalytic Processes in Materials Science #FOS: Mathematics #Metal-Organic Frameworks: Synthesis and Applications #Optimization and Control (math.OC)

paper · pdf · doi:10.48550/arxiv.2411.07919

openalex publication_date 2024/11/12 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

The paper considers a computational governor strategy to facilitate the implementation of Model Predictive Control (MPC) based on inexact optimization when the time available to compute the solution may be insufficient. In the setting of linear-quadratic MPC and a class of optimizers that includes Alternating Direction Method of Multipliers (ADMM), we derive conditions on the reference command adjustment by the computational governor and on a constraint tightening strategy which ensure recursive feasibility, convergence of the modified reference command, and closed-loop stability. An online procedure to select the modified reference command and construct an implicit terminal set is also proposed. A simulation example is reported which illustrates the developed procedures.

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