Symmetric Linear Model Predictive Control

Abstract

This paper studies symmetry in linear model predictive control (MPC). We define symmetry for model predictive control laws and for model predictive control problems. Properties of both MPC symmetries are studied by using a group theory formalism. We show how to efficiently compute MPC symmetries by transforming the search of MPC symmetry generators into a graph automorphism problem. MPC symmetries are then used to design model predictive control algorithms with reduced complexity. The effectiveness of the proposed approach is shown through a simple large-scale MPC problem whose explicit solution can only be found with the method presented in this paper.