Research Article
Offline Model Predictive Control Based on Weighted Projection over Polytopes
Algorithm 2
Sets of dynamically admissible commands.
Off-line computation | (1) Create invariant set of the extended | closed-loop state-space | (2) Create the set by recursion | (3) For = 1 to | (a) Project over to create | On-line computation | (1) Slice at estimated values of and | to create the one-dimensional set | (2) Check if is inside to obtain | (3) For = 2 to | (a) Slice at selected and | known values of and to create | the one-dimensional set | (b) Check if is inside to obtain |
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