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