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Tutorial: Introduction to Interior Point Methods for Predictive Control

Abstract : Introduction and motivation (Why control & why feedback? ; Predictive control as a feedback strategy ) - Constrained LQR (CLQR) to Quadratic Program (QP) (Sampled-data CLQR and equivalent discrete-time CLQR ; Non-condensed and condensed QP formulations) -- Algorithms for solving QP (Interior point methods ; Exploiting structure of QP) - Hardware issues (Interaction between algorithm choice and hardware ; Parallel computation and pipelining) - Wrap-up and questions
keyword : sadco
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Submitted on : Thursday, October 6, 2011 - 11:06:53 AM
Last modification on : Monday, March 21, 2016 - 5:50:25 PM
Long-term archiving on: : Tuesday, November 13, 2012 - 3:15:43 PM

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Eric Kerrigan. Tutorial: Introduction to Interior Point Methods for Predictive Control. SADCO Summer School 2011 - Optimal Control, Sep 2011, London, United Kingdom. ⟨inria-00629539⟩

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