The explicit model-based control law for continuous time systems via parametric programming - INV5105

In this paper an algorithmic framework is presented for the derivation of the explicit optimal control policy for continuous linear dynamic systems that involve constraints on process inputs and outputs. The control actions are usually computed by solving regularly an on-line optimization problem in the discrete space based on a set of measurements that specify the current process state. The novel approach presented in this paper derives the optimal control law off-line as a function of the state of the process in the continuous time-domain, thus eliminating the repetitive solution of on-line optimization problems. Hence, the on-line implementation is reduced to a sequence of simple function evaluations. The key advantageous features of the algorithm are demonstrated via an illustrative example.