On the Approximation of Constrained Linear Quadratic Regulator Problems and their Application to Model Predictive Control - Supplementary Notes

Michael Muehlebach, Raffaello D'Andrea

By parametrizing input and state trajectories with basis functions different approximations to the constrained linear quadratic regulator problem are obtained. These notes present and discuss technical results that are intended to supplement a corresponding journal article. The results can be applied in a model predictive control context.

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