A direct quantifier elimination approach for offline multi-rate predictive control with constraints

This paper presents a simple solution to an offline multi-rate predictive control problem with constraints by using quantifier elimination approach. One of advantages of the proposing method is the easiness of implementation as PID control. Time domain input to output modeling is applied in order to avoid huge memory cost which is pointed out in state space based offline MPC methods. We give admissible tracking error at future time points as a control specification. We can test the existence of a control law which satisfies the control specification by a visualized logical formula.