Research Article
Offline Model Predictive Control Based on Weighted Projection over Polytopes
Algorithm 1
Sets of statically admissible commands.
Off-line computation | (1) Sort the reference vector in order of importance | (2) Create the polyhedron | (3) Project over to create the polyhedron | (4) For = 1 to | (a) Project over to create | On-line computation | (1) Slice at estimated values of | (2) Check if lies inside the admissible range of | (3) For = 2 to | (a) Slice at selected and estimated | (b) Check if lies inside the admissible range of |
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