Using Laguerre functions to improve efficiency of multi-parametric predictive control

Multi-parametric quadratic programming (mp-QP) is an alternative means of implementing conventional predictive control algorithms whereby one transfers much of the computational load to offline calculations. However, coding and implementation of this solution may be more burdensome than simply solving the original QP. This paper shows how Laguerre functions can be used in conjunction with mp-QP to achieve a large decrease in both the online computations and data storage requirements while increasing the feasible region of the optimization problem. Extensive simulation results are given to back this claim.