Using interpolation to simplify explicit model predictive control

Multi parametric quadratic programming gives a full off-line solution to a time varying quadratic programming (QP) problem arising during constrained predictive control. However, coding and implementation of this solution may be more burdensome than solving the original QP. This paper presents a two degree of freedom algorithm, which achieves a large decrease in both the online computation and data storage requirements with negligible deterioration of performance. Extensive simulation results are given to back this claim.