ModellingUS & West
Iterative MPC without Derivatives for Constrained Nonlinear Systems
An iterative MPC algorithm stabilizes constrained nonlinear systems without computing derivatives. The method linearizes dynamics via state- and control-dependent coefficients and solves a sequence of linear-quadratic programs, proving convergence near the origin.
Why it matters
Offers an efficient way to control nonlinear systems, important for industrial applications where derivatives are hard to obtain.
Relevant to DT products
- Original headline
- Iterative State- and Control-Dependent Model Predictive Control: A Jacobian-Free Formulation for Constrained Nonlinear Systems
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