A Novel mp-NLP Algorithm for Explicit/Multi-parametric NMPC *

In this work we present a novel multi-parametric nonlinear programming (mp-NLP) algorithm for explicit multi-parametric nonlinear model predictive control (mp-NMPC). The algorithm is based on (i) local sensitivity analysis of nonlinear programs (NLP), and (ii) an exploration procedure which makes use of successive linearizations of the dynamic system and the nonlinear constraints. The algorithm is illustrated with an example problem drawn from the open literature.