{"id":"https://openalex.org/W2044692146","doi":"https://doi.org/10.1109/tac.2014.2304371","title":"Soft Constrained Model Predictive Control With Robust Stability Guarantees","display_name":"Soft Constrained Model Predictive Control With Robust Stability Guarantees","publication_year":2014,"publication_date":"2014-02-03","ids":{"openalex":"https://openalex.org/W2044692146","doi":"https://doi.org/10.1109/tac.2014.2304371","mag":"2044692146"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2014.2304371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2304371","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/199638","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5037513714","display_name":"Melanie N. Zeilinger","orcid":"https://orcid.org/0000-0003-4570-7571"},"institutions":[{"id":"https://openalex.org/I95457486","display_name":"University of California, Berkeley","ror":"https://ror.org/01an7q238","country_code":"US","type":"education","lineage":["https://openalex.org/I95457486"]},{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE","US"],"is_corresponding":true,"raw_author_name":"Melanie N. Zeilinger","raw_affiliation_strings":["Department of Electrical Engineering and Computer Sciences, Max Planck Institute for Intelligent Systems, T\u00fcbingen, CA, Germany","Dept. of Electr. Eng. & Comput. Sci., Univ. of California-Berkeley, Berkeley, CA, USA"],"affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and Computer Sciences, Max Planck Institute for Intelligent Systems, T\u00fcbingen, CA, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Dept. of Electr. Eng. & Comput. Sci., Univ. of California-Berkeley, Berkeley, CA, USA","institution_ids":["https://openalex.org/I95457486"]}]},{"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, ETH Zurich, Zurich, Switzerland","[Autom. Control Lab., ETH Zurich, Z\u00fcrich, Switzerland]"],"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"[Autom. Control Lab., ETH Zurich, Z\u00fcrich, Switzerland]","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","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":["Laboratoire d'Automatique, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","Lab. d'Autom., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland"],"affiliations":[{"raw_affiliation_string":"Laboratoire d'Automatique, \u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]},{"raw_affiliation_string":"Lab. d'Autom., Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5037513714"],"corresponding_institution_ids":["https://openalex.org/I4210135521","https://openalex.org/I95457486"],"apc_list":null,"apc_paid":null,"fwci":8.6141,"has_fulltext":false,"cited_by_count":142,"citation_normalized_percentile":{"value":0.97685919,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"59","issue":"5","first_page":"1190","last_page":"1202"},"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/T11749","display_name":"Iterative Learning Control Systems","score":0.9908999800682068,"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":0.9898999929428101,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7575374841690063},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.7158575654029846},{"id":"https://openalex.org/keywords/constraint","display_name":"Constraint (computer-aided design)","score":0.5947767496109009},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.5916589498519897},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.5394805669784546},{"id":"https://openalex.org/keywords/exponential-stability","display_name":"Exponential stability","score":0.5219744443893433},{"id":"https://openalex.org/keywords/constrained-optimization","display_name":"Constrained optimization","score":0.5058764815330505},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.49352848529815674},{"id":"https://openalex.org/keywords/robust-control","display_name":"Robust control","score":0.44942331314086914},{"id":"https://openalex.org/keywords/state-space","display_name":"State space","score":0.44924846291542053},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.433504581451416},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.4286843538284302},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.42831188440322876},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3136504888534546},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.3014734983444214},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.27340254187583923},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.2714002728462219},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21790730953216553},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08213227987289429}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7575374841690063},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.7158575654029846},{"id":"https://openalex.org/C2776036281","wikidata":"https://www.wikidata.org/wiki/Q48769818","display_name":"Constraint (computer-aided design)","level":2,"score":0.5947767496109009},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.5916589498519897},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5394805669784546},{"id":"https://openalex.org/C167964875","wikidata":"https://www.wikidata.org/wiki/Q17011487","display_name":"Exponential stability","level":3,"score":0.5219744443893433},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.5058764815330505},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.49352848529815674},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.44942331314086914},{"id":"https://openalex.org/C72434380","wikidata":"https://www.wikidata.org/wiki/Q230930","display_name":"State space","level":2,"score":0.44924846291542053},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.433504581451416},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.4286843538284302},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.42831188440322876},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3136504888534546},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.3014734983444214},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.27340254187583923},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.2714002728462219},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21790730953216553},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08213227987289429},{"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"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/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"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}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/tac.2014.2304371","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2014.2304371","pdf_url":null,"source":{"id":"https://openalex.org/S184954342","display_name":"IEEE Transactions on Automatic Control","issn_l":"0018-9286","issn":["0018-9286","1558-2523","2334-3303"],"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 Transactions on Automatic Control","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.963.3753","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.963.3753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"https://infoscience.epfl.ch/record/199638/files/SoftConstr_final_print.pdf","raw_type":"text"},{"id":"pmh:oai:infoscience.epfl.ch:199638","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/199638","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},{"id":"pmh:oai:pure.mpg.de:item_2110789","is_oa":false,"landing_page_url":"http://hdl.handle.net/11858/00-001M-0000-0025-6BB6-7","pdf_url":null,"source":{"id":"https://openalex.org/S4306400654","display_name":"MPG.PuRe (Max Planck Society)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I149899117","host_organization_name":"Max Planck Society","host_organization_lineage":["https://openalex.org/I149899117"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Transactions on Automatic Control","raw_type":"info:eu-repo/semantics/article"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:199638","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/199638","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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions","score":0.800000011920929}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":44,"referenced_works":["https://openalex.org/W94566284","https://openalex.org/W184169746","https://openalex.org/W290023117","https://openalex.org/W339925265","https://openalex.org/W1513869646","https://openalex.org/W1561941139","https://openalex.org/W1572804421","https://openalex.org/W1653660177","https://openalex.org/W1786168122","https://openalex.org/W1978956894","https://openalex.org/W1980450998","https://openalex.org/W1981723834","https://openalex.org/W1988538197","https://openalex.org/W2007164115","https://openalex.org/W2023285936","https://openalex.org/W2028790617","https://openalex.org/W2036247773","https://openalex.org/W2038137192","https://openalex.org/W2066372497","https://openalex.org/W2073787051","https://openalex.org/W2075194837","https://openalex.org/W2077658674","https://openalex.org/W2080407798","https://openalex.org/W2100096641","https://openalex.org/W2104694979","https://openalex.org/W2114674863","https://openalex.org/W2129516068","https://openalex.org/W2132877212","https://openalex.org/W2134078068","https://openalex.org/W2134781609","https://openalex.org/W2171505650","https://openalex.org/W2182510773","https://openalex.org/W2241352138","https://openalex.org/W2296319761","https://openalex.org/W2536620281","https://openalex.org/W3048180500","https://openalex.org/W3139574564","https://openalex.org/W3139921808","https://openalex.org/W3210839039","https://openalex.org/W4212997115","https://openalex.org/W4250589301","https://openalex.org/W6634104297","https://openalex.org/W6637164072","https://openalex.org/W6679248785"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2060165215","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2320869598","https://openalex.org/W2381210024","https://openalex.org/W2384015130","https://openalex.org/W2094121346","https://openalex.org/W2291665350"],"abstract_inverted_index":{"Soft":[0],"constrained":[1,44,149],"model":[2],"predictive":[3],"control":[4,111,132],"(MPC)":[5],"is":[6,101,113,134],"frequently":[7],"applied":[8],"in":[9,11,85,159],"practice":[10],"order":[12,160],"to":[13,67,161],"ensure":[14,35],"feasibility":[15,26,80],"of":[16,59,81,89,108,124,165,170],"the":[17,69,74,82,90,95,109,130,142,163,171],"optimization":[18],"during":[19],"online":[20],"operation.":[21],"Standard":[22],"techniques":[23],"offer":[24],"global":[25],"by":[27,103,176],"relaxing":[28],"state":[29,75,91,117],"or":[30],"output":[31],"constraints,":[32,98],"but":[33],"cannot":[34],"closed-loop":[36],"stability.":[37],"This":[38],"paper":[39],"presents":[40],"a":[41,86,155],"new":[42],"soft":[43,60,148],"MPC":[45,83,110,157],"approach":[46,78],"for":[47,54,141],"tracking":[48],"that":[49],"provides":[50],"stability":[51,100,123,140],"guarantees":[52],"even":[53],"unstable":[55],"systems.":[56],"Two":[57],"types":[58],"constraints":[61,118],"and":[62,72,99],"slack":[63],"variables":[64],"are":[65,174],"proposed":[66,131,172],"enlarge":[68],"terminal":[70],"constraint":[71],"relax":[73],"constraints.":[76],"The":[77,105,147,168],"ensures":[79],"problem":[84],"large":[87],"region":[88],"space,":[92],"depending":[93],"on":[94],"imposed":[96],"hard":[97],"guaranteed":[102],"design.":[104],"optimal":[106],"performance":[107],"law":[112,133],"preserved":[114],"whenever":[115],"all":[116,125],"can":[119,151],"be":[120,152],"enforced.":[121],"Asymptotic":[122],"feasible":[126],"reference":[127],"steady-states":[128],"under":[129,144],"shown,":[135],"as":[136,138],"well":[137],"input-to-state":[139],"system":[143],"additive":[145],"disturbances.":[146],"method":[150],"combined":[153],"with":[154],"robust":[156],"approach,":[158],"exploit":[162],"benefits":[164],"both":[166],"techniques.":[167],"properties":[169],"methods":[173],"illustrated":[175],"numerical":[177],"examples.":[178]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":20},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":15},{"year":2020,"cited_by_count":13},{"year":2019,"cited_by_count":9},{"year":2018,"cited_by_count":12},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":8},{"year":2015,"cited_by_count":6},{"year":2014,"cited_by_count":3}],"updated_date":"2026-04-09T08:11:56.329763","created_date":"2025-10-10T00:00:00"}