Offline Model Predictive Control Based on Weighted Projection over Polytopes

Algorithm 3

Control calculation.

Off-line computation

(1) Sort the control contribution vector

(2) For = 1 to

  (a) Project over to create

On-line computation

(1) Calculate and from the dynamically

    admissible vector

(2) Slice at estimated values of , and

(3) Check if lies inside the admissible values

(4) For = 2 to

  (a) Slice at computed and at

     values of , and

  (b) Check if lies inside the admissible values

(5) Compute