{"id":"https://openalex.org/W7147510825","doi":"https://doi.org/10.48550/arxiv.2603.29265","title":"Bilevel MPC for Linear Systems: A Tractable Reduction and Continuous Connection to Hierarchical MPC","display_name":"Bilevel MPC for Linear Systems: A Tractable Reduction and Continuous Connection to Hierarchical MPC","publication_year":2026,"publication_date":"2026-03-31","ids":{"openalex":"https://openalex.org/W7147510825","doi":"https://doi.org/10.48550/arxiv.2603.29265"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.29265","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29265","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.29265","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048174369","display_name":"Ryuta Moriyasu","orcid":"https://orcid.org/0000-0002-5584-1283"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Moriyasu, Ryuta","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5132658958","display_name":"Carmen Amo Alonso","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Alonso, Carmen Amo","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5132545346","display_name":"Marco Pavone","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pavone, Marco","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9779999852180481,"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":0.9779999852180481,"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/T11236","display_name":"Control Systems and Identification","score":0.005900000222027302,"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/T10046","display_name":"Stability and Control of Uncertain Systems","score":0.002199999988079071,"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/bilevel-optimization","display_name":"Bilevel optimization","score":0.7774999737739563},{"id":"https://openalex.org/keywords/verifiable-secret-sharing","display_name":"Verifiable secret sharing","score":0.7468000054359436},{"id":"https://openalex.org/keywords/reduction","display_name":"Reduction (mathematics)","score":0.7217000126838684},{"id":"https://openalex.org/keywords/interpolation","display_name":"Interpolation (computer graphics)","score":0.5604000091552734},{"id":"https://openalex.org/keywords/sequence","display_name":"Sequence (biology)","score":0.5246000289916992},{"id":"https://openalex.org/keywords/a-priori-and-a-posteriori","display_name":"A priori and a posteriori","score":0.5195000171661377},{"id":"https://openalex.org/keywords/extension","display_name":"Extension (predicate logic)","score":0.5152000188827515},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.5012000203132629},{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.4803999960422516}],"concepts":[{"id":"https://openalex.org/C3309286","wikidata":"https://www.wikidata.org/wiki/Q4907693","display_name":"Bilevel optimization","level":3,"score":0.7774999737739563},{"id":"https://openalex.org/C85847156","wikidata":"https://www.wikidata.org/wiki/Q59015987","display_name":"Verifiable secret sharing","level":3,"score":0.7468000054359436},{"id":"https://openalex.org/C111335779","wikidata":"https://www.wikidata.org/wiki/Q3454686","display_name":"Reduction (mathematics)","level":2,"score":0.7217000126838684},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5960000157356262},{"id":"https://openalex.org/C137800194","wikidata":"https://www.wikidata.org/wiki/Q11713455","display_name":"Interpolation (computer graphics)","level":3,"score":0.5604000091552734},{"id":"https://openalex.org/C2778112365","wikidata":"https://www.wikidata.org/wiki/Q3511065","display_name":"Sequence (biology)","level":2,"score":0.5246000289916992},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.5205000042915344},{"id":"https://openalex.org/C75553542","wikidata":"https://www.wikidata.org/wiki/Q178161","display_name":"A priori and a posteriori","level":2,"score":0.5195000171661377},{"id":"https://openalex.org/C2778029271","wikidata":"https://www.wikidata.org/wiki/Q5421931","display_name":"Extension (predicate logic)","level":2,"score":0.5152000188827515},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.5012000203132629},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.4803999960422516},{"id":"https://openalex.org/C13355873","wikidata":"https://www.wikidata.org/wiki/Q2920850","display_name":"Connection (principal bundle)","level":2,"score":0.44769999384880066},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.4239000082015991},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.35690000653266907},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3513999879360199},{"id":"https://openalex.org/C137836250","wikidata":"https://www.wikidata.org/wiki/Q984063","display_name":"Optimization problem","level":2,"score":0.33899998664855957},{"id":"https://openalex.org/C2779227376","wikidata":"https://www.wikidata.org/wiki/Q6505497","display_name":"Layer (electronics)","level":2,"score":0.3264999985694885},{"id":"https://openalex.org/C36299963","wikidata":"https://www.wikidata.org/wiki/Q1369844","display_name":"Observability","level":2,"score":0.30379998683929443},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.28839999437332153},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.28450000286102295},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2838999927043915},{"id":"https://openalex.org/C56858530","wikidata":"https://www.wikidata.org/wiki/Q15947151","display_name":"Reduction strategy","level":2,"score":0.28360000252723694},{"id":"https://openalex.org/C61797465","wikidata":"https://www.wikidata.org/wiki/Q1188986","display_name":"Term (time)","level":2,"score":0.2750000059604645},{"id":"https://openalex.org/C41045048","wikidata":"https://www.wikidata.org/wiki/Q202843","display_name":"Linear programming","level":2,"score":0.26510000228881836},{"id":"https://openalex.org/C150189527","wikidata":"https://www.wikidata.org/wiki/Q356674","display_name":"Reference model","level":2,"score":0.260699987411499},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.2590000033378601},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.25870001316070557},{"id":"https://openalex.org/C6802819","wikidata":"https://www.wikidata.org/wiki/Q1072174","display_name":"Linear system","level":2,"score":0.25440001487731934}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.29265","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29265","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.29265","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.29265","pdf_url":null,"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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.40710803866386414}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Model":[0],"predictive":[1],"control":[2],"(MPC)":[3],"has":[4],"been":[5],"widely":[6],"used":[7],"in":[8,12],"many":[9],"fields,":[10],"often":[11,37],"hierarchical":[13,135],"architectures":[14,27],"that":[15,44,66,77,88,126,142],"combine":[16],"controllers":[17],"and":[18,40,71,110,137,158],"decision-making":[19],"layers":[20],"at":[21],"different":[22],"levels.":[23],"However,":[24],"when":[25,101],"such":[26,79],"are":[28,45],"cast":[29],"as":[30],"bilevel":[31,57,127],"optimization":[32],"problems,":[33],"standard":[34,134],"KKT-based":[35],"reformulations":[36],"introduce":[38,138],"nonconvex":[39],"potentially":[41],"nonsmooth":[42],"structures":[43],"undesirable":[46],"for":[47],"real-time":[48],"verifiable":[49,95],"control.":[50],"In":[51,99],"this":[52],"paper,":[53],"we":[54],"study":[55],"a":[56,73,84,94,113,130,161,167],"MPC":[58,76,128],"architecture":[59],"composed":[60],"of":[61,120,133],"(i)":[62],"an":[63,139],"upper":[64],"layer":[65],"selects":[67],"the":[68,102,118,145,155],"reference":[69,80],"sequence":[70],"(ii)":[72],"lower-level":[74],"linear":[75],"tracks":[78],"sequence.":[81],"We":[82,123],"propose":[83],"smooth":[85],"single-level":[86],"reduction":[87],"does":[89],"not":[90],"degrade":[91],"performance":[92],"under":[93],"block-matrix":[96],"nonsingularity":[97],"condition.":[98],"addition,":[100],"problem":[103],"is":[104,108,129],"convex,":[105],"its":[106],"solution":[107],"unique":[109],"equivalent":[111],"to":[112],"corresponding":[114],"centralized":[115],"MPC,":[116,136],"enabling":[117,166],"inheritance":[119],"closed-loop":[121],"properties.":[122],"further":[124],"show":[125],"natural":[131],"extension":[132],"interpolation":[140],"framework":[141,150],"continuously":[143],"connects":[144],"two":[146],"via":[147],"move-blocking.":[148],"This":[149],"reveals":[151],"optimal-value":[152],"ordering":[153],"among":[154],"resulting":[156],"formulations":[157],"provides":[159],"inexpensive":[160],"posteriori":[162],"degradation":[163],"certificates,":[164],"thereby":[165],"principled":[168],"performance-computational":[169],"efficiency":[170],"trade-off.":[171]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-04-02T00:00:00"}