On-line optimal control: A receding horizon approach via BPFs

In this paper, we develop a receding horizon control (RHC) approach to linear systems through a direct method using the Block Pulse Functions (BPFs) parameterizations technique. This approach is based on the online optimal controls using BPFs and linear programming to formulate new control gains at every iteration. To update the gain, a linear programming algorithm was implemented in real-time for solving the optimal control problem. This approach is applied to real examples and simulations results showed meaningful improvement of the systems stability.