Suboptimal Model Predictive Control With a Computation Governor: Stability, Recursive Feasibility, and Applications to Alternating Direction Method of Multipliers

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 command adjustment by the computational governor and on a constraint‐tightening strategy which ensure convergence of the modified reference command, recursive feasibility, and closed‐loop stability. An online procedure to select the modified reference command is also proposed. Simulation examples are reported which illustrate the developed procedures.