MPC for nonlinear systems: A comparative review of discretization methods (original) (raw)

2017 XVII Workshop on Information Processing and Control (RPIC), 2017

Abstract

This work provides a comparative review of three different numerical methods generally used to discretize continuous-time non-linear equations appearing in model predictive control problems: direct multiple shooting, direct collocation and successive linearizations. An overview of the characteristics of each method is given and the performance of each method is evaluated through the simulation of two test cases.

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