Design of multiparametric NCO tracking controllers for linear dynamic systems

A methodology for combining multiparametric programming and NCO tracking is presented in the case of linear dynamic systems. The resulting parametric controller contains information regarding the solution structure provided by multiparametric programming and the corresponding feedback control laws for tracking optimality conditions, thus avoiding the need for repetitively solving optimization problems in online real time control. An example of a constrained linear quadratic optimal control problem with initial conditions as parameters is presented to illustrate the approach.