{"id":"https://openalex.org/W2016331189","doi":"https://doi.org/10.1109/cdc.2013.6760692","title":"Auto-generated algorithms for nonlinear model predictive control on long and on short horizons","display_name":"Auto-generated algorithms for nonlinear model predictive control on long and on short horizons","publication_year":2013,"publication_date":"2013-12-01","ids":{"openalex":"https://openalex.org/W2016331189","doi":"https://doi.org/10.1109/cdc.2013.6760692","mag":"2016331189"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2013.6760692","doi":"https://doi.org/10.1109/cdc.2013.6760692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6760692","pdf_url":null,"source":{"id":"https://openalex.org/S4210221977","display_name":"IEEE Conference on Decision and Control (CDC)","issn_l":"0191-2216","issn":["0191-2216"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","is_traditional":true,"indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5011545766","display_name":"Milan Vukov","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Milan Vukov","raw_affiliation_strings":["Department of Electrical Engineering, KU Leuven, Leuven, Belgium","Dept. of Electr. Eng., KULeuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Electr. Eng., KULeuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079722989","display_name":"Alexander Domahidi","orcid":"https://orcid.org/0000-0002-6828-1668","observed_orcids":["https://orcid.org/0000-0002-6828-1668"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alexander Domahidi","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081953764","display_name":"Hans Joachim Ferreau","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I885143765","display_name":"ABB (Switzerland)","ror":"https://ror.org/00ks5vt51","country_code":"CH","type":"company","lineage":["https://openalex.org/I885143765"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Hans Joachim Ferreau","raw_affiliation_strings":["ABB Corporate Research, Baden-D\u00e4ttwil, Switzerland","ABB Corp. Res., Baden-Da\u0308ttwil, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ABB Corporate Research, Baden-D\u00e4ttwil, Switzerland","institution_ids":["https://openalex.org/I885143765"]},{"raw_affiliation_string":"ABB Corp. Res., Baden-Da\u0308ttwil, Switzerland","institution_ids":["https://openalex.org/I885143765"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025946191","display_name":"Manfred Morari","orcid":"https://orcid.org/0000-0002-7696-5058","observed_orcids":["https://orcid.org/0000-0002-7696-5058"]},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Manfred Morari","raw_affiliation_strings":["Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland#TAB#"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Information Technology and Electrical Engineering, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Dept. of Inf. Technol. & Electr. Eng., ETH Zurich, Zurich, Switzerland#TAB#","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252","observed_orcids":["https://orcid.org/0000-0001-6556-8252"]},"institutions":[{"id":"https://openalex.org/I99464096","display_name":"KU Leuven","ror":"https://ror.org/05f950310","country_code":"BE","type":"education","lineage":["https://openalex.org/I99464096"]}],"countries":["BE"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["Department of Electrical Engineering, KU Leuven, Leuven, Belgium","Dept. of Electr. Eng., KULeuven, Leuven, Belgium"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering, KU Leuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]},{"raw_affiliation_string":"Dept. of Electr. Eng., KULeuven, Leuven, Belgium","institution_ids":["https://openalex.org/I99464096"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":9.6185,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.99219265,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":88,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5113","last_page":"5118"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10963","display_name":"Advanced Optimization Algorithms Research","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2612","display_name":"Numerical Analysis"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T13286","display_name":"Modeling and Simulation Systems","score":0.0,"subfield":{"id":"https://openalex.org/subfields/2611","display_name":"Modeling and Simulation"},"field":{"id":"https://openalex.org/fields/26","display_name":"Mathematics"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/nonlinear-model-predictive-control","display_name":"nonlinear model predictive control","score":0.9990000128746033},{"id":"https://openalex.org/keywords/long-prediction-horizon","display_name":"long prediction horizon","score":0.8339999914169312},{"id":"https://openalex.org/keywords/real-time-iteration","display_name":"real-time iteration","score":0.8679999709129333},{"id":"https://openalex.org/keywords/quadratic-programming-solver","display_name":"quadratic programming solver","score":0.7139999866485596},{"id":"https://openalex.org/keywords/computational-efficiency","display_name":"computational efficiency","score":0.6420000195503235}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.8663939237594604},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7808399200439453},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6647067666053772},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6506704092025757},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5826287865638733},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.5646708011627197},{"id":"https://openalex.org/C26713055","wikidata":"https://www.wikidata.org/wiki/Q245962","display_name":"Implementation","level":2,"score":0.5295292735099792},{"id":"https://openalex.org/C2776760102","wikidata":"https://www.wikidata.org/wiki/Q5139990","display_name":"Code (set theory)","level":3,"score":0.5283247828483582},{"id":"https://openalex.org/C159176650","wikidata":"https://www.wikidata.org/wiki/Q43261","display_name":"Horizon","level":2,"score":0.520774781703949},{"id":"https://openalex.org/C2984755018","wikidata":"https://www.wikidata.org/wiki/Q17118374","display_name":"Nonlinear model","level":3,"score":0.46751195192337036},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4516623616218567},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3845536708831787},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.336838960647583},{"id":"https://openalex.org/C173608175","wikidata":"https://www.wikidata.org/wiki/Q232661","display_name":"Parallel computing","level":1,"score":0.32212334871292114},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.23479503393173218},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21628978848457336},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.12617790699005127},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2013.6760692","doi":"https://doi.org/10.1109/cdc.2013.6760692","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2013.6760692","pdf_url":null,"source":{"id":"https://openalex.org/S4210221977","display_name":"IEEE Conference on Decision and Control (CDC)","issn_l":"0191-2216","issn":["0191-2216"],"is_oa":false,"is_in_doaj":false,"is_core":false,"listed_in":[],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"52nd IEEE Conference on Decision and Control","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":24,"referenced_works":["https://openalex.org/W193284199","https://openalex.org/W562372631","https://openalex.org/W1551745356","https://openalex.org/W1562460111","https://openalex.org/W1582337205","https://openalex.org/W1603657390","https://openalex.org/W1605603185","https://openalex.org/W1631623342","https://openalex.org/W1649984915","https://openalex.org/W1977164425","https://openalex.org/W1983864916","https://openalex.org/W1999502602","https://openalex.org/W2021710897","https://openalex.org/W2026079951","https://openalex.org/W2044494131","https://openalex.org/W2060418335","https://openalex.org/W2073811588","https://openalex.org/W2082056119","https://openalex.org/W2083287154","https://openalex.org/W2115955659","https://openalex.org/W2116773335","https://openalex.org/W2217407546","https://openalex.org/W2510870520","https://openalex.org/W2537660029"],"related_works":["https://openalex.org/W2044494131","https://openalex.org/W2911874465","https://openalex.org/W7005841512","https://openalex.org/W2898748727","https://openalex.org/W1493339118","https://openalex.org/W49530879","https://openalex.org/W3183855705","https://openalex.org/W2912770206","https://openalex.org/W2135044962","https://openalex.org/W2098525253"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,34,47,87,96,104,143,155,164,182],"code":[3,93],"generation":[4],"strategy":[5],"for":[6,68,78,174],"handling":[7],"long":[8,75,82,140],"prediction":[9],"horizons":[10],"in":[11,46],"the":[12,28,39,107,119,134,171],"context":[13],"of":[14,23,41,90,123,137,166],"real-time":[15,29],"nonlinear":[16,144],"model":[17],"predictive":[18],"control":[19],"(NMPC).":[20],"Existing":[21],"implementations":[22],"fast":[24],"NMPC":[25,92,138],"algorithms":[26],"use":[27],"iteration":[30],"(RTI)":[31],"scheme":[32],"and":[33,113,151],"condensing":[35,108],"technique":[36],"to":[37,55,73,177],"reduce":[38],"number":[40],"optimization":[42],"variables.":[43],"Condensing":[44],"results":[45,127],"much":[48],"smaller,":[49],"but":[50],"dense":[51],"quadratic":[52],"program":[53],"(QP)":[54],"be":[56,111],"solved":[57],"at":[58],"every":[59],"time":[60,136,159,173],"step.":[61],"While":[62],"this":[63,130],"approach":[64,131],"is":[65],"well":[66],"suited":[67],"short":[69],"horizons,":[70],"it":[71],"leads":[72],"unnecessarily":[74],"execution":[76,114,135,172],"times":[77,115],"problem":[79,146],"formulations":[80],"with":[81,118,139,157],"horizon.":[83],"This":[84],"paper":[85],"presents":[86],"new":[88],"implementation":[89],"auto-generated":[91,99],"based":[94],"on":[95,154,181],"structure":[97],"exploiting":[98],"QP":[100,105],"solver.":[101],"Utilizing":[102],"such":[103],"solver,":[106],"step":[109],"can":[110],"avoided":[112],"scale":[116],"linearly":[117],"horizon":[120,156],"length":[121],"instead":[122],"cubically.":[124],"Our":[125],"simulation":[126],"show":[128],"that":[129,147],"significantly":[132],"decreases":[133],"horizons.":[141],"For":[142],"test":[145],"comprises":[148],"9":[149],"states":[150],"3":[152,183],"controls":[153],"50":[158],"steps,":[160],"an":[161],"improvement":[162],"by":[163],"factor":[165],"2":[167],"was":[168],"observed,":[169],"reducing":[170],"one":[175],"RTI":[176],"below":[178],"4":[179],"milliseconds":[180],"GHz":[184],"CPU.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":4},{"year":2021,"cited_by_count":6},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":9},{"year":2017,"cited_by_count":9},{"year":2016,"cited_by_count":7},{"year":2015,"cited_by_count":9},{"year":2014,"cited_by_count":7},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":1}],"updated_date":"2026-11-07T11:25:07.637180","created_date":"2016-06-24T00:00:00"}
