{"id":"https://openalex.org/W4402592668","doi":"https://doi.org/10.1109/tac.2024.3463529","title":"A Direct Optimization Algorithm for Input-Constrained MPC","display_name":"A Direct Optimization Algorithm for Input-Constrained MPC","publication_year":2024,"publication_date":"2024-09-18","ids":{"openalex":"https://openalex.org/W4402592668","doi":"https://doi.org/10.1109/tac.2024.3463529"},"language":"en","primary_location":{"id":"doi:10.1109/tac.2024.3463529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3463529","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/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Liang Wu","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0002-5452-3080","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5083684552","display_name":"Richard D. Braatz","orcid":"https://orcid.org/0000-0003-4304-3484"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Richard D. Braatz","raw_affiliation_strings":["Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":"https://orcid.org/0000-0003-4304-3484","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":2.2882,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.88550725,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"70","issue":"2","first_page":"1366","last_page":"1373"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9961000084877014,"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":0.9961000084877014,"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/T10829","display_name":"Interconnection Networks and Systems","score":0.9575999975204468,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10192","display_name":"Catalytic Processes in Materials Science","score":0.942300021648407,"subfield":{"id":"https://openalex.org/subfields/2505","display_name":"Materials Chemistry"},"field":{"id":"https://openalex.org/fields/25","display_name":"Materials Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5328273177146912},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.48418310284614563},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.47043177485466003},{"id":"https://openalex.org/keywords/constrained-optimization","display_name":"Constrained optimization","score":0.46157535910606384},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.41944265365600586},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.33472728729248047},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2763085961341858},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21560725569725037},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.11237728595733643}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5328273177146912},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.48418310284614563},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.47043177485466003},{"id":"https://openalex.org/C55660270","wikidata":"https://www.wikidata.org/wiki/Q5164377","display_name":"Constrained optimization","level":2,"score":0.46157535910606384},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.41944265365600586},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.33472728729248047},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2763085961341858},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21560725569725037},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.11237728595733643}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tac.2024.3463529","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tac.2024.3463529","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":[{"id":"https://openalex.org/G2221990718","display_name":null,"funder_award_id":"75F40122C00200","funder_id":"https://openalex.org/F4320332163","funder_display_name":"U.S. Food and Drug Administration"},{"id":"https://openalex.org/G989047427","display_name":null,"funder_award_id":"BAA-22-00123","funder_id":"https://openalex.org/F4320332163","funder_display_name":"U.S. Food and Drug Administration"}],"funders":[{"id":"https://openalex.org/F4320332163","display_name":"U.S. Food and Drug Administration","ror":"https://ror.org/034xvzb47"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":32,"referenced_works":["https://openalex.org/W1509805685","https://openalex.org/W1518039036","https://openalex.org/W1603657390","https://openalex.org/W1980145158","https://openalex.org/W1981832695","https://openalex.org/W2013439434","https://openalex.org/W2021328462","https://openalex.org/W2037392616","https://openalex.org/W2060571538","https://openalex.org/W2086867325","https://openalex.org/W2116773335","https://openalex.org/W2130336971","https://openalex.org/W2158051473","https://openalex.org/W2165323796","https://openalex.org/W2523760000","https://openalex.org/W2607001947","https://openalex.org/W2609017172","https://openalex.org/W2769646558","https://openalex.org/W2900650061","https://openalex.org/W3012394787","https://openalex.org/W3112360136","https://openalex.org/W3118706735","https://openalex.org/W3153551819","https://openalex.org/W3177103098","https://openalex.org/W4250589301","https://openalex.org/W4318475905","https://openalex.org/W4319865677","https://openalex.org/W4388917856","https://openalex.org/W4402836673","https://openalex.org/W6633327428","https://openalex.org/W6634175102","https://openalex.org/W6862373576"],"related_works":["https://openalex.org/W122341662","https://openalex.org/W2098490153","https://openalex.org/W2945790020","https://openalex.org/W2111888732","https://openalex.org/W2128089710","https://openalex.org/W181374404","https://openalex.org/W2148472017","https://openalex.org/W4388279573","https://openalex.org/W2902675733","https://openalex.org/W3104770499"],"abstract_inverted_index":{"Providing":[0],"an":[1,187],"execution":[2,29,162],"time":[3,30,41,163],"certificate":[4],"is":[5,102,181],"a":[6,43,64],"pressing":[7],"requirement":[8],"when":[9],"deploying":[10],"model":[11],"predictive":[12],"control":[13],"(MPC)":[14],"in":[15,42],"real-time":[16],"embedded":[17],"systems":[18],"such":[19],"as":[20],"microcontrollers.":[21],"Real-time":[22],"MPC":[23,50,166,173],"requires":[24],"that":[25,93],"its":[26],"worst-case":[27],"(maximum)":[28],"must":[31],"be":[32,36],"theoretically":[33,182],"guaranteed":[34],"to":[35,81,158],"smaller":[37],"than":[38],"the":[39,54,57,78,83,94,122,140,149,161],"sampling":[40],"closed-loop.":[44],"This":[45],"technical":[46],"note":[47],"considers":[48],"input-constrained":[49],"problems":[51],"and":[52,68,113,143,183],"exploits":[53],"structure":[55],"of":[56,86,96,98,164,178],"resulting":[58],"box-constrained":[59],"QPs.":[60],"Then,":[61],"we":[62],"propose":[63],"<italic":[65,69,103,110,114,118],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[66,70,104,108,111,115,119,125,136,145],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">cost-free</i>":[67],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">data-independent</i>":[71],"initialization":[72,84],"strategy,":[73],"which":[74],"enables":[75],"us,":[76],"for":[77],"first":[79],"time,":[80],"remove":[82],"assumption":[85],"feasible":[87],"full-Newton":[88],"interior-point":[89],"algorithms.":[90],"We":[91],"prove":[92],"number":[95],"iterations":[97],"our":[99,156,179],"proposed":[100],"algorithm":[101,157,180],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">only":[105],"dimension-dependent</i>":[106],"(<italic":[107],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">data-independent</i>),":[109],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">simple-calculated</i>,":[112],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">exact</i>":[116],"(not":[117],"xmlns:xlink=\"http://www.w3.org/1999/xlink\">worst-case</i>)":[120],"with":[121],"value":[123],"<inline-formula":[124,135,144],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[126,137,146],"notation=\"LaTeX\">$\\left\\lceil":[127],"{\\log":[128],"(\\frac{2n}{\\epsilon":[129],"})}/{-2\\log":[130],"(\\frac{\\sqrt{2n}}{\\sqrt{2n}+\\sqrt{2}-1})}\\right\\rceil":[131],"\\!+":[132],"1$</tex-math></inline-formula>,":[133],"where":[134],"notation=\"LaTeX\">$n$</tex-math></inline-formula>":[138],"denotes":[139,148],"problem":[141],"dimension":[142],"notation=\"LaTeX\">$\\epsilon$</tex-math></inline-formula>":[147],"constant":[150],"stopping":[151],"tolerance.":[152],"These":[153],"features":[154],"enable":[155],"trivially":[159],"certify":[160],"nonlinear":[165],"(via":[167],"online":[168],"linearized":[169],"schemes)":[170],"or":[171],"adaptive":[172],"problems.":[174],"The":[175],"execution-time-certified":[176],"capability":[177],"numerically":[184],"validated":[185],"through":[186],"open-loop":[188],"unstable":[189],"AFTI-16":[190],"example.":[191]},"counts_by_year":[{"year":2026,"cited_by_count":4},{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":2}],"updated_date":"2026-07-15T18:14:33.161393","created_date":"2025-10-10T00:00:00"}
