Performance analysis of asynchronous model predictive control laws

Performance analysis of model predictive control (MPC) laws for constrained linear periodic systems with asynchronous timing constraints on input channels is considered. The problem boils down to performance analysis of autonomous periodic piecewise affine (PWA) systems of time-dependent state dimension. A periodic reverse reachability algorithm that constructs the explicit periodic piecewise quadratic (PWQ) running cost function over the region(s) of attraction of the origin is described. Available explicitly, the running cost function enables exact and rapid performance evaluation of the system as a whole, and facilitates the strategic optimization of an asynchronous controller´s initial condition, while circumnavigating the need to perform a large number of simulations.