{"id":"https://openalex.org/W4319865677","doi":"https://doi.org/10.1109/tac.2023.3241238","title":"A Simple and Fast Coordinate-Descent Augmented-Lagrangian Solver for Model Predictive Control","display_name":"A Simple and Fast Coordinate-Descent Augmented-Lagrangian Solver for Model Predictive Control","publication_year":2023,"publication_date":"2023-01-31","ids":{"openalex":"https://openalex.org/W4319865677","doi":"https://doi.org/10.1109/tac.2023.3241238"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2023.3241238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3241238","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":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5044341275","display_name":"Liang Wu","orcid":"https://orcid.org/0000-0002-5452-3080"},"institutions":[{"id":"https://openalex.org/I127077003","display_name":"IMT School for Advanced Studies Lucca","ror":"https://ror.org/035gh3a49","country_code":"IT","type":"education","lineage":["https://openalex.org/I127077003"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Liang Wu","raw_affiliation_strings":["IMT School for Advanced Studies Lucca, Lucca, Italy"],"raw_orcid":"https://orcid.org/0000-0002-5452-3080","affiliations":[{"raw_affiliation_string":"IMT School for Advanced Studies Lucca, Lucca, Italy","institution_ids":["https://openalex.org/I127077003"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5053340099","display_name":"Alberto Bemporad","orcid":"https://orcid.org/0000-0001-6761-0856"},"institutions":[{"id":"https://openalex.org/I127077003","display_name":"IMT School for Advanced Studies Lucca","ror":"https://ror.org/035gh3a49","country_code":"IT","type":"education","lineage":["https://openalex.org/I127077003"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alberto Bemporad","raw_affiliation_strings":["IMT School for Advanced Studies Lucca, Lucca, Italy"],"raw_orcid":"https://orcid.org/0000-0001-6761-0856","affiliations":[{"raw_affiliation_string":"IMT School for Advanced Studies Lucca, Lucca, Italy","institution_ids":["https://openalex.org/I127077003"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I127077003"],"apc_list":null,"apc_paid":null,"fwci":1.9628,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.85639019,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":98},"biblio":{"volume":"68","issue":"11","first_page":"6860","last_page":"6866"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9936000108718872,"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":0.9936000108718872,"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/T10612","display_name":"Magnetism in coordination complexes","score":0.9866999983787537,"subfield":{"id":"https://openalex.org/subfields/2504","display_name":"Electronic, Optical and Magnetic Materials"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"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":0.984499990940094,"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/solver","display_name":"Solver","score":0.7046244144439697},{"id":"https://openalex.org/keywords/augmented-lagrangian-method","display_name":"Augmented Lagrangian method","score":0.6864882707595825},{"id":"https://openalex.org/keywords/coordinate-descent","display_name":"Coordinate descent","score":0.6141544580459595},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5018665790557861},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.4568858742713928},{"id":"https://openalex.org/keywords/invariant","display_name":"Invariant (physics)","score":0.4381425380706787},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.4363628625869751},{"id":"https://openalex.org/keywords/quadratic-programming","display_name":"Quadratic programming","score":0.4261389970779419},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.41612616181373596},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.38087499141693115},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.37849298119544983},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3691132068634033},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17255493998527527}],"concepts":[{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.7046244144439697},{"id":"https://openalex.org/C150452318","wikidata":"https://www.wikidata.org/wiki/Q4820432","display_name":"Augmented Lagrangian method","level":2,"score":0.6864882707595825},{"id":"https://openalex.org/C157553263","wikidata":"https://www.wikidata.org/wiki/Q5168004","display_name":"Coordinate descent","level":2,"score":0.6141544580459595},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5018665790557861},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.4568858742713928},{"id":"https://openalex.org/C190470478","wikidata":"https://www.wikidata.org/wiki/Q2370229","display_name":"Invariant (physics)","level":2,"score":0.4381425380706787},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4363628625869751},{"id":"https://openalex.org/C81845259","wikidata":"https://www.wikidata.org/wiki/Q290117","display_name":"Quadratic programming","level":2,"score":0.4261389970779419},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.41612616181373596},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.38087499141693115},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.37849298119544983},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3691132068634033},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17255493998527527},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C37914503","wikidata":"https://www.wikidata.org/wiki/Q156495","display_name":"Mathematical physics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2023.3241238","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2023.3241238","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":40,"referenced_works":["https://openalex.org/W1669104078","https://openalex.org/W1845160311","https://openalex.org/W1966333543","https://openalex.org/W1973706450","https://openalex.org/W1980145158","https://openalex.org/W1981832695","https://openalex.org/W1983864916","https://openalex.org/W1993170675","https://openalex.org/W1996418493","https://openalex.org/W2000769684","https://openalex.org/W2013850411","https://openalex.org/W2014405554","https://openalex.org/W2030121914","https://openalex.org/W2044774602","https://openalex.org/W2092937927","https://openalex.org/W2100186373","https://openalex.org/W2116773335","https://openalex.org/W2128529555","https://openalex.org/W2134673975","https://openalex.org/W2158051473","https://openalex.org/W2165966284","https://openalex.org/W2167732364","https://openalex.org/W2208458196","https://openalex.org/W2535740008","https://openalex.org/W2742913131","https://openalex.org/W2769646558","https://openalex.org/W2889460819","https://openalex.org/W2893725532","https://openalex.org/W2936995161","https://openalex.org/W2954732176","https://openalex.org/W2986657821","https://openalex.org/W3011355621","https://openalex.org/W3018068659","https://openalex.org/W3101798601","https://openalex.org/W3137936630","https://openalex.org/W4250739957","https://openalex.org/W4292363360","https://openalex.org/W6679179291","https://openalex.org/W6728457090","https://openalex.org/W6761030284"],"related_works":["https://openalex.org/W2015060724","https://openalex.org/W2919324478","https://openalex.org/W146488304","https://openalex.org/W2117229703","https://openalex.org/W4291961070","https://openalex.org/W2080896647","https://openalex.org/W2025587901","https://openalex.org/W2028217664","https://openalex.org/W2158000646","https://openalex.org/W2886734572"],"abstract_inverted_index":{"This":[0],"article":[1],"proposes":[2],"a":[3,110,127],"novel":[4],"coordinate-descent":[5],"augmented-Lagrangian":[6],"(CDAL)":[7],"solver":[8,41],"for":[9,114,122],"linear,":[10],"possibly":[11],"parameter-varying,":[12],"model":[13],"predictive":[14],"control":[15],"(MPC)":[16],"problems.":[17],"At":[18],"each":[19],"iteration,":[20],"an":[21,132],"augmented":[22],"Lagrangian":[23],"(AL)":[24],"subproblem":[25],"is":[26,48,67,82],"solved":[27],"by":[28],"coordinate":[29],"descent":[30],"(CD),":[31],"exploiting":[32],"the":[33,36,59,105,115,118,124,137,153],"structure":[34],"of":[35,78,98,155],"MPC":[37],"problem.":[38],"The":[39],"CDAL":[40,108,145],"enjoys":[42],"three":[43],"main":[44],"properties:":[45],"1)":[46],"it":[47,55,73,88],"<italic":[49,68,83],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[50,69,84],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">construction-free</i>":[51],",":[52,71,86],"in":[53,100,152],"that":[54,144],"avoids":[56,74],"explicitly":[57],"constructing":[58],"quadratic":[60],"programming":[61],"problem":[62],"associated":[63],"with":[64,147],"MPC;":[65],"2)":[66],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">matrix-free</i>":[70],"as":[72,87],"multiplications":[75],"and":[76,80,131,139,159],"factorizations":[77],"matrices;":[79],"3)":[81],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">library-free</i>":[85],"can":[89],"be":[90],"simply":[91],"coded":[92],"without":[93],"any":[94],"library":[95],"dependency,":[96],"90-lines":[97],"C-code":[99],"our":[101],"implementation.":[102],"To":[103],"favor":[104],"convergence":[106],"speed,":[107],"employs":[109],"reverse":[111],"cyclic":[112],"rule":[113],"CD":[116,138],"method,":[117],"accelerated":[119],"Nesterov's":[120],"scheme":[121,135],"updating":[123],"dual":[125],"variables,":[126],"simple":[128],"diagonal":[129],"preconditioner,":[130],"efficient":[133],"coupling":[134],"between":[136],"AL":[140],"methods.":[141],"We":[142],"show":[143],"competes":[146],"other":[148],"state-of-the-art":[149],"methods,":[150],"both":[151],"case":[154],"unstable":[156],"linear":[157,160],"time-invariant":[158],"parameter-varying":[161],"prediction":[162],"models.":[163]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}