Main Content

Reduce explicit MPC controller complexity and memory requirements

attempts to reduce the number of piecewise affine (PWA) regions in an explicit MPC
controller by merging regions that have identical controller gains and whose union
is a convex set. Reducing the number of PWA regions reduces memory requirements of
the controller. This command returns a reduced controller,
`EMPCreduced`

= simplify(`EMPCobj`

,'exact')`EMPCreduced`

. If the second argument is omitted then it is
assumed to be 'exact'.

specifies the tolerance for identifying regions that can be merged.`EMPCreduced`

= simplify(`EMPCobj`

,'exact',`uniteeps`

)

retains only regions whose Chebyshev radius (the radius of the largest ball
contained in the region) is larger than `EMPCreduced`

= simplify(`EMPCobj`

,'radius',`r`

)`r`

.

eliminates all regions except those specified in an index vector. `EMPCreduced`

= simplify(`EMPCobj`

,'sequence',`index`

)

`simplify(`

applies the reduction to the explicit MPC controller `EMPCobj`

,___)`EMPCobj`

,
rather than returning a new controller object. You can use this syntax with any of
the previous reduction options.