{"id":"https://openalex.org/W4391021504","doi":"https://doi.org/10.1109/cdc49753.2023.10383261","title":"A Generalized Stopping Criterion for Real-Time MPC with Guaranteed Stability","display_name":"A Generalized Stopping Criterion for Real-Time MPC with Guaranteed Stability","publication_year":2023,"publication_date":"2023-12-13","ids":{"openalex":"https://openalex.org/W4391021504","doi":"https://doi.org/10.1109/cdc49753.2023.10383261"},"language":"en","primary_location":{"id":"doi:10.1109/cdc49753.2023.10383261","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/bitstreams/4d1e3bfb-708d-481e-afd2-98f95de85350/download","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042946993","display_name":"Krist\u00edna Fedorov\u00e1","orcid":"https://orcid.org/0000-0002-6064-4444"},"institutions":[{"id":"https://openalex.org/I110757952","display_name":"Slovak University of Technology in Bratislava","ror":"https://ror.org/0561ghm58","country_code":"SK","type":"education","lineage":["https://openalex.org/I110757952"]}],"countries":["SK"],"is_corresponding":true,"raw_author_name":"Krist\u00edna Fedorov\u00e1","raw_affiliation_strings":["Slovak University of Technology in Bratislava (STUBA),Faculty of Chemical and Food Technology,Slovak","Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava (STUBA), Slovak"],"affiliations":[{"raw_affiliation_string":"Slovak University of Technology in Bratislava (STUBA),Faculty of Chemical and Food Technology,Slovak","institution_ids":["https://openalex.org/I110757952"]},{"raw_affiliation_string":"Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava (STUBA), Slovak","institution_ids":["https://openalex.org/I110757952"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074655314","display_name":"Yuning Jiang","orcid":"https://orcid.org/0000-0002-7145-0995"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Yuning Jiang","raw_affiliation_strings":["EPFL,Automatic Control Laboratory,Switzerland","Automatic Control Laboratory, EPFL, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL,Automatic Control Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Automatic Control Laboratory, EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103028046","display_name":"Juraj Oravec","orcid":"https://orcid.org/0000-0002-1253-3192"},"institutions":[{"id":"https://openalex.org/I110757952","display_name":"Slovak University of Technology in Bratislava","ror":"https://ror.org/0561ghm58","country_code":"SK","type":"education","lineage":["https://openalex.org/I110757952"]}],"countries":["SK"],"is_corresponding":false,"raw_author_name":"Juraj Oravec","raw_affiliation_strings":["Slovak University of Technology in Bratislava (STUBA),Faculty of Chemical and Food Technology,Slovak","Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava (STUBA), Slovak"],"affiliations":[{"raw_affiliation_string":"Slovak University of Technology in Bratislava (STUBA),Faculty of Chemical and Food Technology,Slovak","institution_ids":["https://openalex.org/I110757952"]},{"raw_affiliation_string":"Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava (STUBA), Slovak","institution_ids":["https://openalex.org/I110757952"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085117832","display_name":"Colin N. Jones","orcid":"https://orcid.org/0000-0001-7239-4799"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Colin N. Jones","raw_affiliation_strings":["EPFL,Automatic Control Laboratory,Switzerland","Automatic Control Laboratory, EPFL, Switzerland"],"affiliations":[{"raw_affiliation_string":"EPFL,Automatic Control Laboratory,Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Automatic Control Laboratory, EPFL, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081458703","display_name":"Michal Kvasnica","orcid":"https://orcid.org/0000-0001-8699-551X"},"institutions":[{"id":"https://openalex.org/I110757952","display_name":"Slovak University of Technology in Bratislava","ror":"https://ror.org/0561ghm58","country_code":"SK","type":"education","lineage":["https://openalex.org/I110757952"]}],"countries":["SK"],"is_corresponding":false,"raw_author_name":"Michal Kvasnica","raw_affiliation_strings":["Slovak University of Technology in Bratislava (STUBA),Faculty of Chemical and Food Technology,Slovak","Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava (STUBA), Slovak"],"affiliations":[{"raw_affiliation_string":"Slovak University of Technology in Bratislava (STUBA),Faculty of Chemical and Food Technology,Slovak","institution_ids":["https://openalex.org/I110757952"]},{"raw_affiliation_string":"Faculty of Chemical and Food Technology, Slovak University of Technology in Bratislava (STUBA), Slovak","institution_ids":["https://openalex.org/I110757952"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5042946993"],"corresponding_institution_ids":["https://openalex.org/I110757952"],"apc_list":null,"apc_paid":null,"fwci":0.3695,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.62112255,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":95},"biblio":{"volume":"2","issue":null,"first_page":"4705","last_page":"4710"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9847000241279602,"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":0.973800003528595,"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/mathematical-optimization","display_name":"Mathematical optimization","score":0.6052265763282776},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5944411158561707},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5712060928344727},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5548320412635803},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.5224531888961792},{"id":"https://openalex.org/keywords/quadratic-equation","display_name":"Quadratic equation","score":0.4764193296432495},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4474697411060333},{"id":"https://openalex.org/keywords/gradient-descent","display_name":"Gradient descent","score":0.447265088558197},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3485775887966156},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.20282363891601562}],"concepts":[{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6052265763282776},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5944411158561707},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5712060928344727},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5548320412635803},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.5224531888961792},{"id":"https://openalex.org/C129844170","wikidata":"https://www.wikidata.org/wiki/Q41299","display_name":"Quadratic equation","level":2,"score":0.4764193296432495},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4474697411060333},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.447265088558197},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3485775887966156},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.20282363891601562},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","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}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/cdc49753.2023.10383261","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/cdc49753.2023.10383261","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:304709","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/200328","pdf_url":"https://infoscience.epfl.ch/bitstreams/4d1e3bfb-708d-481e-afd2-98f95de85350/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},{"id":"pmh:oai:zenodo.org:10554587","is_oa":true,"landing_page_url":"https://doi.org/10.1109/CDC49753.2023.10383261","pdf_url":null,"source":{"id":"https://openalex.org/S4306400562","display_name":"Zenodo (CERN European Organization for Nuclear Research)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I67311998","host_organization_name":"European Organization for Nuclear Research","host_organization_lineage":["https://openalex.org/I67311998"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2023 62nd IEEE Conference on Decision and Control (CDC), Singapore, 2023","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:304709","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/200328","pdf_url":"https://infoscience.epfl.ch/bitstreams/4d1e3bfb-708d-481e-afd2-98f95de85350/download","source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference paper"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1287131280","display_name":null,"funder_award_id":"101079342","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"},{"id":"https://openalex.org/G6035327784","display_name":null,"funder_award_id":"51NF40_180545","funder_id":"https://openalex.org/F4320320924","funder_display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung"},{"id":"https://openalex.org/G7137359840","display_name":null,"funder_award_id":"APVV-20-0261","funder_id":"https://openalex.org/F4320323251","funder_display_name":"Agent\u00fara na Podporu V\u00fdskumu a V\u00fdvoja"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"},{"id":"https://openalex.org/F4320323251","display_name":"Agent\u00fara na Podporu V\u00fdskumu a V\u00fdvoja","ror":"https://ror.org/037nx0e70"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4391021504.pdf","grobid_xml":"https://content.openalex.org/works/W4391021504.grobid-xml"},"referenced_works_count":23,"referenced_works":["https://openalex.org/W1518039036","https://openalex.org/W1576823098","https://openalex.org/W1978956894","https://openalex.org/W1981832695","https://openalex.org/W1993170675","https://openalex.org/W2009656020","https://openalex.org/W2037603831","https://openalex.org/W2040161377","https://openalex.org/W2076261573","https://openalex.org/W2134673975","https://openalex.org/W2136574592","https://openalex.org/W2138112069","https://openalex.org/W2149802487","https://openalex.org/W2151088727","https://openalex.org/W2208458196","https://openalex.org/W2763081248","https://openalex.org/W3123924607","https://openalex.org/W3166963597","https://openalex.org/W3183222280","https://openalex.org/W3189223768","https://openalex.org/W4206742934","https://openalex.org/W4292363360","https://openalex.org/W4312625042"],"related_works":["https://openalex.org/W2080896647","https://openalex.org/W2025587901","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2886734572","https://openalex.org/W1852236601","https://openalex.org/W3011628374","https://openalex.org/W2020990755","https://openalex.org/W3036464408","https://openalex.org/W2377851227"],"abstract_inverted_index":{"Most":[0],"of":[1,5,29,48,58,61,76,83,100,111,117,141],"the":[2,6,13,46,62,66,74,77,89,96,123,132],"real-time":[3,27,138],"implementations":[4],"stabilizing":[7],"optimal":[8],"control":[9,33],"actions":[10],"suffer":[11],"from":[12],"necessity":[14,67],"to":[15],"provide":[16],"high":[17],"computational":[18],"effort.":[19],"This":[20],"paper":[21],"presents":[22],"a":[23,37,55,107],"cutting-edge":[24],"approach":[25],"for":[26,68,135],"evaluation":[28],"linear-quadratic":[30],"model":[31],"predictive":[32],"(MPC)":[34],"that":[35],"employs":[36],"novel":[38],"generalized":[39],"stopping":[40],"criterion,":[41],"achieving":[42],"asymptotic":[43],"stability":[44],"in":[45,114],"presence":[47],"input":[49],"constraints.":[50],"The":[51,103],"proposed":[52,133],"method":[53,93,99,140],"evaluates":[54],"fixed":[56],"number":[57,110],"iterations":[59],"independent":[60],"initial":[63],"condition,":[64],"eliminating":[65],"computationally":[69],"expensive":[70],"methods.":[71],"We":[72],"demonstrate":[73],"effectiveness":[75],"introduced":[78],"technique":[79],"by":[80],"its":[81],"implementation":[82,139],"two":[84],"widely-used":[85],"first-order":[86],"optimization":[87],"methods:":[88],"projected":[90],"gradient":[91],"descent":[92],"(PGDM)":[94],"and":[95],"alternating":[97],"directions":[98],"multipliers":[101],"(ADMM).":[102],"numerical":[104],"simulation":[105],"confirmed":[106],"significantly":[108],"reduced":[109],"iterations,":[112],"resulting":[113],"sub-optimality":[115],"rates":[116],"less":[118],"than":[119],"2":[120],"%,":[121],"while":[122],"effort":[124],"reductions":[125],"exceeded":[126],"80":[127],"%.":[128],"These":[129],"results":[130],"nominate":[131],"criterion":[134],"an":[136],"efficient":[137],"MPC":[142],"controllers.":[143]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}