{"id":"https://openalex.org/W2296894568","doi":"https://doi.org/10.1109/cdc.2016.7799144","title":"Robust model predictive control for non-linear systems with input and state constraints via feedback linearization","display_name":"Robust model predictive control for non-linear systems with input and state constraints via feedback linearization","publication_year":2016,"publication_date":"2016-12-01","ids":{"openalex":"https://openalex.org/W2296894568","doi":"https://doi.org/10.1109/cdc.2016.7799144","mag":"2296894568"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2016.7799144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799144","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":"conference-paper","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/A5018879381","display_name":"Yash Vardhan Pant","orcid":"https://orcid.org/0000-0002-2292-6846"},"institutions":[{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yash Vardhan Pant","raw_affiliation_strings":["The Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, U.S.A","institution_ids":["https://openalex.org/I110357561","https://openalex.org/I79576946","https://openalex.org/I922845939"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021880681","display_name":"Houssam Abbas","orcid":"https://orcid.org/0000-0002-8096-2618"},"institutions":[{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Houssam Abbas","raw_affiliation_strings":["The Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, U.S.A","institution_ids":["https://openalex.org/I110357561","https://openalex.org/I79576946","https://openalex.org/I922845939"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5009445756","display_name":"Rahul Mangharam","orcid":"https://orcid.org/0000-0002-3388-8283"},"institutions":[{"id":"https://openalex.org/I110357561","display_name":"University of the Sciences","ror":"https://ror.org/048gmay44","country_code":"US","type":"education","lineage":["https://openalex.org/I110357561"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]},{"id":"https://openalex.org/I922845939","display_name":"Philadelphia University","ror":"https://ror.org/03zzmyz63","country_code":"US","type":"education","lineage":["https://openalex.org/I922845939"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rahul Mangharam","raw_affiliation_strings":["The Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, U.S.A"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Department of Electrical and Systems Engineering, University of Pennsylvania, Philadelphia, U.S.A","institution_ids":["https://openalex.org/I110357561","https://openalex.org/I79576946","https://openalex.org/I922845939"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"5694","last_page":"5699"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9998999834060669,"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":0.9998999834060669,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.9898999929428101,"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/T10876","display_name":"Fault Detection and Control Systems","score":0.98580002784729,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7413657903671265},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7272747755050659},{"id":"https://openalex.org/keywords/linear-system","display_name":"Linear system","score":0.7185685634613037},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.6122351884841919},{"id":"https://openalex.org/keywords/reachability","display_name":"Reachability","score":0.5781930685043335},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.5776379704475403},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5691573023796082},{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.4818602502346039},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.47851693630218506},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.45043161511421204},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.4466097354888916},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.43926316499710083},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.32330918312072754},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.30205804109573364},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2791749835014343},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2410559058189392},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.1910383701324463},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.09603071212768555},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07496863603591919}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7413657903671265},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7272747755050659},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.7185685634613037},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.6122351884841919},{"id":"https://openalex.org/C136643341","wikidata":"https://www.wikidata.org/wiki/Q1361526","display_name":"Reachability","level":2,"score":0.5781930685043335},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.5776379704475403},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5691573023796082},{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.4818602502346039},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.47851693630218506},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.45043161511421204},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.4466097354888916},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.43926316499710083},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32330918312072754},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.30205804109573364},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2791749835014343},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2410559058189392},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.1910383701324463},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.09603071212768555},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07496863603591919},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc.2016.7799144","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2016.7799144","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"},{"id":"pmh:oai:repository.upenn.edu:20.500.14332/40709","is_oa":false,"landing_page_url":"https://repository.upenn.edu/handle/20.500.14332/40709","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"published","raw_type":"Presentation"},{"id":"pmh:oai:repository.upenn.edu:mlab_papers-1113","is_oa":false,"landing_page_url":"https://repository.upenn.edu/mlab_papers/94","pdf_url":null,"source":{"id":"https://openalex.org/S4306402083","display_name":"ScholarlyCommons (University of Pennsylvania)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I79576946","host_organization_name":"University of Pennsylvania","host_organization_lineage":["https://openalex.org/I79576946"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Real-Time and Embedded Systems Lab (mLAB)","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1524886571","https://openalex.org/W1537150088","https://openalex.org/W1573759704","https://openalex.org/W1675321098","https://openalex.org/W1981735120","https://openalex.org/W2038051530","https://openalex.org/W2044795764","https://openalex.org/W2057847320","https://openalex.org/W2066425650","https://openalex.org/W2073044575","https://openalex.org/W2117402460","https://openalex.org/W2158207970","https://openalex.org/W2247689341","https://openalex.org/W2279014940","https://openalex.org/W2344384429","https://openalex.org/W6631546732","https://openalex.org/W6637350942","https://openalex.org/W6645858739","https://openalex.org/W7062620343"],"related_works":["https://openalex.org/W2349527210","https://openalex.org/W1998462347","https://openalex.org/W1836713364","https://openalex.org/W2131265573","https://openalex.org/W2899783744","https://openalex.org/W2964841342","https://openalex.org/W4300511988","https://openalex.org/W130230158","https://openalex.org/W2165424018","https://openalex.org/W2317650444"],"abstract_inverted_index":{"Robust":[0],"predictive":[1,47],"control":[2,48,63,137],"of":[3,61,64],"non-linear":[4,29,66,96],"systems":[5,145],"under":[6,49,68],"state":[7,13,70,76],"estimation":[8,50,71],"errors":[9,51,72],"and":[10,12,19,52,73,75,110,132,150],"input":[11,74],"constraints":[14,77,87,102],"is":[15],"a":[16,65,119],"challenging":[17],"problem,":[18],"solutions":[20],"to":[21,146],"it":[22],"have":[23],"generally":[24],"involved":[25],"solving":[26],"computationally":[27],"hard":[28],"optimizations.":[30],"Feedback":[31],"linearization":[32],"has":[33,39],"reduced":[34],"the":[35,89,95,114],"computational":[36],"burden,":[37],"but":[38],"not":[40],"yet":[41],"been":[42],"solved":[43],"for":[44,135],"robust":[45,62,86,128],"model":[46],"constraints.":[53,100,124],"In":[54],"this":[55,59],"paper,":[56],"we":[57],"solve":[58],"problem":[60],"system":[67,92,97],"bounded":[69],"using":[78,107],"feedback":[79,90],"linearization.":[80],"We":[81,125,139],"do":[82],"so":[83],"by":[84],"developing":[85],"on":[88,143],"linearized":[91],"such":[93],"that":[94],"respects":[98],"its":[99,148],"These":[101],"are":[103,111],"computed":[104],"at":[105],"run-time":[106],"online":[108],"reachability,":[109],"linear":[112,123],"in":[113,118],"optimization":[115],"variables,":[116],"resulting":[117],"Quadratic":[120],"Program":[121],"with":[122],"also":[126],"provide":[127],"feasibility,":[129],"recursive":[130],"feasibility":[131],"stability":[133],"results":[134],"our":[136,141],"algorithm.":[138],"evaluate":[140],"approach":[142],"two":[144],"show":[147],"applicability":[149],"performance.":[151]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}