{"id":"https://openalex.org/W2571484450","doi":"https://doi.org/10.1109/cdc.2016.7798820","title":"ADMM prescaling for model predictive control","display_name":"ADMM prescaling for model predictive control","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2571484450","doi":"https://doi.org/10.1109/cdc.2016.7798820","mag":"2571484450"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7798820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","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/A5101805998","display_name":"Felix Rey","orcid":"https://orcid.org/0000-0001-9082-780X"},"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":"Felix Rey","raw_affiliation_strings":["Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048931971","display_name":"Damian Frick","orcid":"https://orcid.org/0000-0002-9355-4189"},"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":"Damian Frick","raw_affiliation_strings":["Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079722989","display_name":"Alexander Domahidi","orcid":"https://orcid.org/0000-0002-6828-1668"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexander Domahidi","raw_affiliation_strings":["Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Zurich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039670942","display_name":"Juan L. Jerez","orcid":null},"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":"Juan Jerez","raw_affiliation_strings":["Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025946191","display_name":"Manfred Morari","orcid":"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":["Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007359599","display_name":"John Lygeros","orcid":"https://orcid.org/0000-0002-6159-1962"},"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":"John Lygeros","raw_affiliation_strings":["Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory (IfA) at ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.8328,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.79200414,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"26","issue":null,"first_page":"3662","last_page":"3667"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11115","display_name":"Topology Optimization in Engineering","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T11115","display_name":"Topology Optimization in Engineering","score":0.9962000250816345,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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":0.9957000017166138,"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/T10792","display_name":"Matrix Theory and Algorithms","score":0.9930999875068665,"subfield":{"id":"https://openalex.org/subfields/1703","display_name":"Computational Theory and Mathematics"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7976701259613037},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.7049353122711182},{"id":"https://openalex.org/keywords/diagonal","display_name":"Diagonal","score":0.6963399648666382},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.5976783037185669},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.5888002514839172},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.5309436321258545},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.5071620941162109},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49970006942749023},{"id":"https://openalex.org/keywords/convex-function","display_name":"Convex function","score":0.48468974232673645},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.45089295506477356},{"id":"https://openalex.org/keywords/penalty-method","display_name":"Penalty method","score":0.44737163186073303},{"id":"https://openalex.org/keywords/rate-of-convergence","display_name":"Rate of convergence","score":0.44599276781082153},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.42028728127479553},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41809654235839844},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3243260979652405},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2905682325363159},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.1085924506187439}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7976701259613037},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.7049353122711182},{"id":"https://openalex.org/C130367717","wikidata":"https://www.wikidata.org/wiki/Q189791","display_name":"Diagonal","level":2,"score":0.6963399648666382},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.5976783037185669},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.5888002514839172},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.5309436321258545},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.5071620941162109},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49970006942749023},{"id":"https://openalex.org/C145446738","wikidata":"https://www.wikidata.org/wiki/Q319913","display_name":"Convex function","level":3,"score":0.48468974232673645},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.45089295506477356},{"id":"https://openalex.org/C6180225","wikidata":"https://www.wikidata.org/wiki/Q3411771","display_name":"Penalty method","level":2,"score":0.44737163186073303},{"id":"https://openalex.org/C57869625","wikidata":"https://www.wikidata.org/wiki/Q1783502","display_name":"Rate of convergence","level":3,"score":0.44599276781082153},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.42028728127479553},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41809654235839844},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3243260979652405},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2905682325363159},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.1085924506187439},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc.2016.7798820","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7798820","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE 55th Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","score":0.75,"id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W1561941139","https://openalex.org/W1966333543","https://openalex.org/W1977284223","https://openalex.org/W2008922743","https://openalex.org/W2026079951","https://openalex.org/W2073811588","https://openalex.org/W2076261573","https://openalex.org/W2115955659","https://openalex.org/W2116773335","https://openalex.org/W2140357316","https://openalex.org/W2149416133","https://openalex.org/W2164278908","https://openalex.org/W2186605561","https://openalex.org/W2213594914","https://openalex.org/W2230655205","https://openalex.org/W2536620281","https://openalex.org/W2798909945","https://openalex.org/W3029645440","https://openalex.org/W3098928855","https://openalex.org/W3099831354","https://openalex.org/W4292363360","https://openalex.org/W4300448178","https://openalex.org/W6652761147"],"related_works":["https://openalex.org/W2391945574","https://openalex.org/W2811008754","https://openalex.org/W1509697595","https://openalex.org/W2173203003","https://openalex.org/W198877065","https://openalex.org/W463235","https://openalex.org/W3132779534","https://openalex.org/W4287773735","https://openalex.org/W2056006513","https://openalex.org/W1526133808"],"abstract_inverted_index":{"The":[0,29],"alternating":[1],"direction":[2],"method":[3],"of":[4,83,100],"multipliers":[5],"(ADMM)":[6],"is":[7,42],"an":[8,52,81],"iterative":[9],"first":[10],"order":[11],"optimization":[12],"algorithm":[13],"for":[14,56],"solving":[15],"convex":[16,58],"problems":[17,60,74],"such":[18],"as":[19],"the":[20,84,98],"ones":[21],"arising":[22],"in":[23,80,92],"linear":[24,62],"model":[25],"predictive":[26],"control":[27],"(MPC).":[28],"ADMM":[30,53],"convergence":[31],"rate":[32],"depends":[33],"on":[34],"a":[35,93],"penalty":[36,85],"(or":[37],"step":[38],"size)":[39],"parameter":[40],"that":[41,96],"often":[43],"difficult":[44],"to":[45,72],"choose.":[46],"In":[47],"this":[48,69],"paper":[49],"we":[50,88],"present":[51],"prescaling":[54,70],"strategy":[55],"strongly":[57],"quadratic":[59],"with":[61,75],"equality":[63],"and":[64],"box":[65],"constraints.":[66],"We":[67],"apply":[68],"procedure":[71],"MPC-type":[73],"diagonal":[76],"objective,":[77],"which":[78],"results":[79,91],"elimination":[82],"parameter.":[86],"Moreover,":[87],"illustrate":[89],"our":[90],"numerical":[94],"study":[95],"demonstrates":[97],"benefits":[99],"prescaling.":[101]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":2},{"year":2020,"cited_by_count":4},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
