A model predictive control process which approximates a constraint set as an ellipsoid to
directly address actuator limitations, to provide a robust controller structure, and reduce
computation demands. A bounded polytope defining the constraint set is approximated as
an ellipsoid in an off-line computation. The ellipsoid is scaled on line via bisection to
determine the ellipsoid that optimally fits the polytope, calculating a set of control moves for
manipulating device actuators. Preferably, an unconstrained solution is first computed and …

A model predictive control process which approximates a constraint set as an ellipsoid to
directly address actuator limitations, to provide a robust controller structure, and reduce
computation demands. A bounded polytope defining the constraint set is approximated as
an ellipsoid in an off-line computation. The ellipsoid is scaled on line via bisection to
determine the ellipsoid that optimally fits the polytope, calculating a set of control moves for
manipulating device actuators. Preferably, an unconstrained solution is first computed and …