A technique is presented to solve the linear quadratic optimal control problem with state and control constraints. The control law, called LD-MPC, has both implicit and explicit forms. Compared to conventional model predictive control (MPC), with the same feasible region, the implicit LD-MPC has fewer decision variables, and hence may reduce online computational time. One numerical example with comparison to MPC shows the main benefits of the proposed method.
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Nguyen et al. (2015) studied this question.
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