{"id":"https://openalex.org/W4388936569","doi":"https://doi.org/10.1109/lcsys.2023.3336261","title":"Homothetic Tube Model Predictive Control With Multi-Step Predictors","display_name":"Homothetic Tube Model Predictive Control With Multi-Step Predictors","publication_year":2023,"publication_date":"2023-01-01","ids":{"openalex":"https://openalex.org/W4388936569","doi":"https://doi.org/10.1109/lcsys.2023.3336261"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2023.3336261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3336261","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://infoscience.epfl.ch/handle/20.500.14299/204808","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5042667379","display_name":"Danilo Saccani","orcid":"https://orcid.org/0000-0002-3059-9160"},"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":true,"raw_author_name":"Danilo Saccani","raw_affiliation_strings":["Institute of Mechanical Engineering, Ecole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, Ecole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074145693","display_name":"Giancarlo Ferrari\u2010Trecate","orcid":"https://orcid.org/0000-0002-9492-9624"},"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":"Giancarlo Ferrari-Trecate","raw_affiliation_strings":["Institute of Mechanical Engineering, Ecole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne, Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute of Mechanical Engineering, Ecole Polytechnique F&#x00E9;d&#x00E9;rale de Lausanne, Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037513714","display_name":"Melanie N. Zeilinger","orcid":"https://orcid.org/0000-0003-4570-7571"},"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":"Melanie N. Zeilinger","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5054219974","display_name":"Johannes K\u00f6hler","orcid":"https://orcid.org/0000-0002-5556-604X"},"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":"Johannes K\u00f6hler","raw_affiliation_strings":["Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Institute for Dynamic Systems and Control, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5042667379"],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":1.0972,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.7820335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"7","issue":null,"first_page":"3561","last_page":"3566"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9997000098228455,"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":0.9997000098228455,"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/T12910","display_name":"Eicosanoids and Hypertension Pharmacology","score":0.9873999953269958,"subfield":{"id":"https://openalex.org/subfields/1303","display_name":"Biochemistry"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10631","display_name":"Cancer, Hypoxia, and Metabolism","score":0.9072999954223633,"subfield":{"id":"https://openalex.org/subfields/1306","display_name":"Cancer Research"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.852806031703949},{"id":"https://openalex.org/keywords/setpoint","display_name":"Setpoint","score":0.8046936988830566},{"id":"https://openalex.org/keywords/homothetic-transformation","display_name":"Homothetic transformation","score":0.7935726642608643},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.6690983772277832},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5939223170280457},{"id":"https://openalex.org/keywords/parametric-statistics","display_name":"Parametric statistics","score":0.5456756353378296},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5114995241165161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5045143365859985},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.49738505482673645},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4948963522911072},{"id":"https://openalex.org/keywords/constraint-satisfaction","display_name":"Constraint satisfaction","score":0.48831459879875183},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.41471898555755615},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.36568737030029297},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3327919840812683},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.10346215963363647},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.10280716419219971},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.09134823083877563}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.852806031703949},{"id":"https://openalex.org/C12302492","wikidata":"https://www.wikidata.org/wiki/Q1752097","display_name":"Setpoint","level":2,"score":0.8046936988830566},{"id":"https://openalex.org/C91709909","wikidata":"https://www.wikidata.org/wiki/Q583960","display_name":"Homothetic transformation","level":2,"score":0.7935726642608643},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.6690983772277832},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5939223170280457},{"id":"https://openalex.org/C117251300","wikidata":"https://www.wikidata.org/wiki/Q1849855","display_name":"Parametric statistics","level":2,"score":0.5456756353378296},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5114995241165161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5045143365859985},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.49738505482673645},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4948963522911072},{"id":"https://openalex.org/C44616089","wikidata":"https://www.wikidata.org/wiki/Q30158686","display_name":"Constraint satisfaction","level":3,"score":0.48831459879875183},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.41471898555755615},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.36568737030029297},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3327919840812683},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.10346215963363647},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.10280716419219971},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.09134823083877563},{"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2023.3336261","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2023.3336261","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"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":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:308564","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/204808","pdf_url":null,"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":"WoS","raw_type":"research article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:308564","is_oa":true,"landing_page_url":"https://infoscience.epfl.ch/handle/20.500.14299/204808","pdf_url":null,"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":"WoS","raw_type":"research article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320327714","display_name":"ETH Z\u00fcrich Foundation","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W1501551754","https://openalex.org/W1896002532","https://openalex.org/W1981723834","https://openalex.org/W2038798729","https://openalex.org/W2084166574","https://openalex.org/W2128102968","https://openalex.org/W2490662969","https://openalex.org/W2598741352","https://openalex.org/W2919264892","https://openalex.org/W2963090596","https://openalex.org/W2969991110","https://openalex.org/W3002619089","https://openalex.org/W3012548973","https://openalex.org/W3104562023","https://openalex.org/W3156862033","https://openalex.org/W3165699901","https://openalex.org/W3198207966","https://openalex.org/W4221161109","https://openalex.org/W4246038204","https://openalex.org/W4283741465","https://openalex.org/W4292072232","https://openalex.org/W4294691800","https://openalex.org/W4309688881","https://openalex.org/W4312631595","https://openalex.org/W4314947478","https://openalex.org/W4377861579","https://openalex.org/W4386057055","https://openalex.org/W4388936569","https://openalex.org/W6786756798","https://openalex.org/W6810038479"],"related_works":["https://openalex.org/W2080256219","https://openalex.org/W2186176044","https://openalex.org/W2152422428","https://openalex.org/W4388917845","https://openalex.org/W2811393877","https://openalex.org/W2089203544","https://openalex.org/W1898618621","https://openalex.org/W2767128392","https://openalex.org/W4205300464","https://openalex.org/W1825327515"],"abstract_inverted_index":{"We":[0,64,82],"present":[1],"a":[2,44,52,66,84],"robust":[3,70],"model":[4],"predictive":[5],"control":[6],"(MPC)":[7],"framework":[8],"for":[9],"linear":[10],"systems":[11],"facing":[12],"bounded":[13,17],"parametric":[14],"uncertainty":[15],"and":[16,75,93,100],"disturbances.":[18],"Our":[19],"approach":[20],"deviates":[21],"from":[22,38],"standard":[23],"MPC":[24],"formulations":[25],"by":[26],"integrating":[27],"multi-step":[28,39,62],"predictors,":[29,40],"which":[30],"provide":[31,65],"reduced":[32],"error":[33],"bounds.":[34],"These":[35],"bounds,":[36],"derived":[37],"are":[41],"utilized":[42],"in":[43,96],"homothetic":[45],"tube":[46],"formulation":[47,54],"to":[48,57,87,90],"mitigate":[49],"conservatism.":[50],"Lastly,":[51],"multi-rate":[53],"is":[55],"adopted":[56],"handle":[58],"the":[59,79],"incompatibilities":[60],"of":[61,78,98],"predictors.":[63],"theoretical":[67],"analysis,":[68],"guaranteeing":[69],"recursive":[71],"feasibility,":[72],"constraint":[73],"satisfaction,":[74],"(practical)":[76],"stability":[77],"desired":[80],"setpoint.":[81],"use":[83],"simulation":[85],"example":[86],"compare":[88],"it":[89],"existing":[91],"literature":[92],"demonstrate":[94],"advantages":[95],"terms":[97],"conservatism":[99],"computational":[101],"complexity.":[102]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
