On-line optimization via off-line parametric optimization tools

Abstract

In this paper, model predictive control (MPC) based optimization problems with a quadratic performance criterion and linear constraints are formulated as multi-parametric quadratic programs (mp-QP), where the input and state variables, corresponding to a plant model, are treated as optimization variables and parameters, respectively. The solution of such problems is given by (i) a complete set of profiles of all the optimal inputs to the plant as a function of state variables, and (ii) the regions in the space of state variables where these functions remain optimal. It is shown that these profiles are linear and the corresponding regions are described by linear inequalities. An algorithm for obtaining these profiles and corresponding regions of optimality is also presented. The key feature of the proposed approach is that the on-line optimization problem is solved off-line via parametric programming techniques. Hence (i) no optimization solver is called on-line, and (ii) only simple function evaluations are required, to obtain the optimal inputs to the plant for the current state of the plant.