Fast predictive control of linear, time-invariant systems using an algorithm based on the fast gradient method and augmented Lagrange multipliers

We present an algorithm based on the fast gradient method and augmented Lagrange multipliers for model predictive control of linear, discrete-time, time-invariant, systems with constraints. In particular, the algorithm solves the underlying quadratic program in the so-called condensed form and takes advantage of the problem structure. At the end, we illustrate the performance of the algorithm, which is competitive with tailored interior-point methods, by an example.