In the literature, most of the time, it is assumed that the system is slow enough and the time required for calculation of optimal control in each step of MPC can be neglected.
it is a correct assumptions for most of systems in process control context, especially when we used linear MPC.
but what about when we try to implement MPC on fast systems (high Lipschitz constants) where our system is not linear (so we have to use direct methods to solve the optimial control problem in each step of MPC).
is there any references in the literature that considers the computational time of the MPC into account and try to improve this computation time
Dear Ali,
I suggest you to see links and attached files i topic.
-A Survey on Explicit Model Predictive Control - SYSMA@IMT Lucca
cse.lab.imtlucca.it/~bemporad/.../nmpc08-survey-explicit.pdf
-Development of Model Predictive Controller for a Tail-Sitter ... - MDPI
https://www.mdpi.com/1424-8220/18/9/2859/pdf
-Approximate Dynamic Programming Based Control of ... - MDPI
https://www.mdpi.com/2227-7390/6/8/132/pdf
-PAMPC: Perception-Aware Model Predictive Control for Quadrotors
rpg.ifi.uzh.ch/docs/IROS18_Falanga.pdf
-Universitat Politècnica de Catalunya Optimization-based Control with ...
www.iri.upc.edu/files/academic/.../85-Thesis-project-document.pdf
Best regards
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