Technical Communique: Evaluation of piecewise affine control via binary search tree

Authors:
P. TøNdel;T. A. Johansen;A. Bemporad
Affiliations:
Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 Trondheim, Norway;Department of Engineering Cybernetics, Norwegian University of Science and Technology, N-7491 Trondheim, Norway;Dipartimento di Ingegneria dell'Informazione, University of Siena, 53100 Siena, Italy
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

We present an algorithm for generating a binary search tree that allows efficient computation of piecewise affine (PWA) functions defined on a polyhedral partition. This is useful for PWA control approaches, such as explicit model predictive control, as it allows the controller to be implemented online with small computational effort. The computation time is logarithmic in the number of regions in the PWA partition.