{"id":"https://openalex.org/W2748791965","doi":"https://doi.org/10.1137/17m114251x","title":"Low-Complexity Method for Hybrid MPC with Local Guarantees","display_name":"Low-Complexity Method for Hybrid MPC with Local Guarantees","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2748791965","doi":"https://doi.org/10.1137/17m114251x","mag":"2748791965"},"language":"en","primary_location":{"id":"doi:10.1137/17m114251x","is_oa":false,"landing_page_url":"https://doi.org/10.1137/17m114251x","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1609.02819","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048931971","display_name":"Damian Frick","orcid":"https://orcid.org/0000-0002-9355-4189"},"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":"Damian Frick","raw_affiliation_strings":["Automatic Control Laboratory, ETH Zurich, Physikstrasse 3, 8092 Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-9355-4189","affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory, ETH Zurich, Physikstrasse 3, 8092 Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054451550","display_name":"Angelos Georghiou","orcid":"https://orcid.org/0000-0003-4490-4020"},"institutions":[{"id":"https://openalex.org/I5023651","display_name":"McGill University","ror":"https://ror.org/01pxwe438","country_code":"CA","type":"education","lineage":["https://openalex.org/I5023651"]}],"countries":["CA"],"is_corresponding":false,"raw_author_name":"Angelos Georghiou","raw_affiliation_strings":["Desautels Faculty of Management, McGill University, Montreal, Quebec, Canada"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Desautels Faculty of Management, McGill University, Montreal, Quebec, Canada","institution_ids":["https://openalex.org/I5023651"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039670942","display_name":"Juan L. Jerez","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Juan L. Jerez","raw_affiliation_strings":["embotech AG, Technoparkstrasse 1, 8005 Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"embotech AG, Technoparkstrasse 1, 8005 Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079722989","display_name":"Alexander Domahidi","orcid":"https://orcid.org/0000-0002-6828-1668"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alexander Domahidi","raw_affiliation_strings":["embotech AG, Technoparkstrasse 1, 8005 Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"embotech AG, Technoparkstrasse 1, 8005 Z\u00fcrich, Switzerland","institution_ids":[]}]},{"author_position":"last","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, Physikstrasse 3, 8092 Z\u00fcrich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Automatic Control Laboratory, ETH Zurich, Physikstrasse 3, 8092 Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.6745,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.6877112,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"57","issue":"4","first_page":"2328","last_page":"2361"},"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/T10409","display_name":"Fuel Cells and Related Materials","score":0.9854999780654907,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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":0.9818999767303467,"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/polyhedron","display_name":"Polyhedron","score":0.6286536455154419},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.6232447624206543},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.6162750124931335},{"id":"https://openalex.org/keywords/maxima-and-minima","display_name":"Maxima and minima","score":0.5452299118041992},{"id":"https://openalex.org/keywords/operator","display_name":"Operator (biology)","score":0.5215415954589844},{"id":"https://openalex.org/keywords/computation","display_name":"Computation","score":0.5026874542236328},{"id":"https://openalex.org/keywords/computational-complexity-theory","display_name":"Computational complexity theory","score":0.5012924671173096},{"id":"https://openalex.org/keywords/simple","display_name":"Simple (philosophy)","score":0.457987904548645},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.43384137749671936},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.4254749119281769},{"id":"https://openalex.org/keywords/optimization-problem","display_name":"Optimization problem","score":0.41316819190979004},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3549082279205322}],"concepts":[{"id":"https://openalex.org/C54829058","wikidata":"https://www.wikidata.org/wiki/Q172937","display_name":"Polyhedron","level":2,"score":0.6286536455154419},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.6232447624206543},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.6162750124931335},{"id":"https://openalex.org/C186633575","wikidata":"https://www.wikidata.org/wiki/Q845060","display_name":"Maxima and minima","level":2,"score":0.5452299118041992},{"id":"https://openalex.org/C17020691","wikidata":"https://www.wikidata.org/wiki/Q139677","display_name":"Operator (biology)","level":5,"score":0.5215415954589844},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.5026874542236328},{"id":"https://openalex.org/C179799912","wikidata":"https://www.wikidata.org/wiki/Q205084","display_name":"Computational complexity theory","level":2,"score":0.5012924671173096},{"id":"https://openalex.org/C2780586882","wikidata":"https://www.wikidata.org/wiki/Q7520643","display_name":"Simple (philosophy)","level":2,"score":0.457987904548645},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.43384137749671936},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.4254749119281769},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.41316819190979004},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3549082279205322},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C158448853","wikidata":"https://www.wikidata.org/wiki/Q425218","display_name":"Repressor","level":4,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","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/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","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/C86339819","wikidata":"https://www.wikidata.org/wiki/Q407384","display_name":"Transcription factor","level":3,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1137/17m114251x","is_oa":false,"landing_page_url":"https://doi.org/10.1137/17m114251x","pdf_url":null,"source":{"id":"https://openalex.org/S897311980","display_name":"SIAM Journal on Control and Optimization","issn_l":"0363-0129","issn":["0363-0129","1095-7138"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320508","host_organization_name":"Society for Industrial and Applied Mathematics","host_organization_lineage":["https://openalex.org/P4310320508"],"host_organization_lineage_names":["Society for Industrial and Applied Mathematics"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"SIAM Journal on Control and Optimization","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1609.02819","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.02819","pdf_url":"https://arxiv.org/pdf/1609.02819","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1609.02819","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1609.02819","pdf_url":"https://arxiv.org/pdf/1609.02819","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":51,"referenced_works":["https://openalex.org/W124292005","https://openalex.org/W127678387","https://openalex.org/W205960364","https://openalex.org/W269003556","https://openalex.org/W1480205328","https://openalex.org/W1524886571","https://openalex.org/W1561941139","https://openalex.org/W1573659356","https://openalex.org/W1578293866","https://openalex.org/W1976510243","https://openalex.org/W1977284223","https://openalex.org/W1977985274","https://openalex.org/W1978956894","https://openalex.org/W1983864916","https://openalex.org/W2003482966","https://openalex.org/W2016211524","https://openalex.org/W2017492470","https://openalex.org/W2019348145","https://openalex.org/W2026079951","https://openalex.org/W2042005915","https://openalex.org/W2045079045","https://openalex.org/W2051530197","https://openalex.org/W2073576149","https://openalex.org/W2074403494","https://openalex.org/W2086592650","https://openalex.org/W2103320023","https://openalex.org/W2107637091","https://openalex.org/W2117402460","https://openalex.org/W2127470768","https://openalex.org/W2136774055","https://openalex.org/W2150506037","https://openalex.org/W2153565720","https://openalex.org/W2154642492","https://openalex.org/W2163232332","https://openalex.org/W2164278908","https://openalex.org/W2184047134","https://openalex.org/W2345986964","https://openalex.org/W2407146224","https://openalex.org/W2536620281","https://openalex.org/W2561945367","https://openalex.org/W2611293703","https://openalex.org/W2952937673","https://openalex.org/W2972681909","https://openalex.org/W3027865947","https://openalex.org/W3029645440","https://openalex.org/W3105393233","https://openalex.org/W4229650096","https://openalex.org/W4292363360","https://openalex.org/W4299439662","https://openalex.org/W4301014524","https://openalex.org/W4301216918"],"related_works":["https://openalex.org/W2971340537","https://openalex.org/W2797788337","https://openalex.org/W2113001792","https://openalex.org/W2046210743","https://openalex.org/W4294541085","https://openalex.org/W1511346678","https://openalex.org/W2030136392","https://openalex.org/W1584292662","https://openalex.org/W1857475410","https://openalex.org/W2125570479"],"abstract_inverted_index":{"Model":[0],"predictive":[1,71],"control":[2,72],"problems":[3,14,67],"for":[4,32,56,129,136],"constrained":[5],"hybrid":[6,69],"systems":[7],"are":[8,20,29,36,77,134],"usually":[9],"cast":[10],"as":[11,120,146],"mixed-integer":[12],"optimization":[13,62],"(MIPs).":[15],"However,":[16],"commercial":[17],"MIP":[18,172,217],"solvers":[19],"designed":[21],"to":[22,102,105,112,176,215],"run":[23],"on":[24,162,198],"desktop":[25],"computing":[26],"platforms":[27],"and":[28,43,92,157,174,186,229,232,238],"not":[30],"suited":[31],"embedded":[33],"applications,":[34],"which":[35,130],"typically":[37],"restricted":[38],"by":[39],"limited":[40],"computational":[41,207],"power":[42],"memory.":[44],"To":[45],"alleviate":[46],"these":[47],"restrictions,":[48],"we":[49,151],"develop":[50,158],"a":[51,57,147,177],"novel":[52],"low-complexity,":[53],"iterative":[54],"method":[55,99,125,180,197],"class":[58,65,138],"of":[59,66,126,139,149,195,211,227],"nonconvex,":[60],"nonsmooth":[61],"problems.":[63,140],"This":[64,108],"encompasses":[68],"model":[70],"problems,":[73],"where":[74],"the":[75,86,117,121,143,154,170,193,196],"dynamics":[76,145],"piecewise":[78],"affine":[79],"(PWA).":[80],"We":[81,191],"give":[82],"conditions":[83],"such":[84,119,132],"that":[85,181],"proposed":[87],"algorithm":[88,160,167],"has":[89],"fixed":[90],"points":[91],"show":[93],"that,":[94],"under":[95],"practical":[96],"assumptions,":[97],"our":[98],"is":[100,109,221],"guaranteed":[101],"converge":[103],"locally":[104],"local":[106,236,239],"minima.":[107],"in":[110,116,225],"contrast":[111],"other":[113],"low-complexity":[114],"methods":[115],"literature,":[118],"nonconvex":[122],"alternating":[123],"directions":[124],"multipliers":[127],"(ADMM),":[128],"no":[131],"guarantees":[133],"known":[135],"this":[137],"By":[141],"interpreting":[142],"PWA":[144],"union":[148],"polyhedra,":[150],"can":[152],"exploit":[153],"problem":[155],"structure":[156],"an":[159],"based":[161],"operator":[163],"splitting":[164],"procedures.":[165],"Our":[166],"departs":[168],"from":[169],"traditional":[171],"formulation":[173],"leads":[175],"simple,":[178],"embeddable":[179],"only":[182],"requires":[183],"matrix-vector":[184],"multiplications":[185],"small-scale":[187],"projections":[188],"onto":[189],"polyhedra.":[190],"illustrate":[192],"efficacy":[194],"two":[199],"numerical":[200],"examples,":[201],"achieving":[202],"good":[203],"closed-loop":[204],"performance":[205],"with":[206,223],"times":[208],"several":[209],"orders":[210],"magnitude":[212],"smaller":[213],"compared":[214],"state-of-the-art":[216],"solvers.":[218],"Moreover,":[219],"it":[220,234],"competitive":[222],"ADMM":[224],"terms":[226],"suboptimality":[228],"computation":[230],"time,":[231],"additionally":[233],"provides":[235],"optimality":[237],"convergence":[240],"guarantees.":[241]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2022,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
