A Simple Semi-explicit MPC Algorithm

A new model predictive control (MPC) scheme is presented which is characterized by extremely simple and quickly executable online computations suitable for limited hardware implementations. The main idea behind the method is to replace the decision variable of the MPC optimization problem by several univariate parameterizations. This way, several univariate quadratic programs are obtained which can be solved online by executing a simple case analysis. Stability and recursive feasibility guarantees are given for the algorithm. In two numerical examples very simple online computations, high control performance and low storage requirements for the controller are verified.