Polytopic approximation algorithm of explicit model predictive control

Polytopic approximation of explicit model predictive control is an algorithm that compute approximate explicit control laws that trade-off complexity against approximation error for MPC controllers. The approximate method has overcome the shortcomings of explicit model predictive control, reduced the complexity and improved the speed of offline calculation, increased the real-time control action. In this paper, we make a comparison between the polytopic approximate algorithm and the explicit model predictive control algorithms by the simulation of several numerical examples. The advantages of polytopic approximation algorithm are concluded.