English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Tools annual

Global: Zendy Free Plan

Global: Zendy Tools monthly

Global: Zendy Plus monthly

A dual gradient method is used for solving quadratic programs resulting from a model predictive control problem in real-time control context. Evolution of iterates and residuals throughout iterations of the method is studied. In each iteration, the set of active inequality constraints whose corresponding components of the Lagrange multiplier are non-zero can be defined. It is found that the set of active constraints tends to stay constant through multiple iterations. Observing the decay of residuals for intervals where the set of active constraints is constant leads to interesting findings. For such an interval, the dual residual can be expressed in a base so that its components are decaying independently, uniformly, and at predictable rates. The base and the rates only depend on the system matrices and the set of active constraints. The calculated decay rates match the rates observed in numerical simulations of MPC control, which is shown for the AFTI-16 benchmark example.

Local Decay of Residuals in Dual Gradient Method Applied to MPC Studied using Active Set Approach