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- W1970314189 abstract "This paper describes a fast optimization algorithm for Model Predictive Control (MPC) with soft constraints. The method relies on the Kreisselmeier-Steinhauser function to provide a smooth approximation of the penalty function for a soft constraint. By introducing this approximation directly into the objective of an interior point optimization, there is no need for additional slack variables to capture constraint violation. Simulation results show significant speed-up compared to using slacks." @default.
- W1970314189 created "2016-06-24" @default.
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- W1970314189 date "2013-07-01" @default.
- W1970314189 modified "2023-10-18" @default.
- W1970314189 title "Fast model predictive control with soft constraints" @default.
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- W1970314189 doi "https://doi.org/10.23919/ecc.2013.6669291" @default.
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