ON THE GLOBAL SOLUTION TO NONLINEAR MODEL-PREDICTIVE CONTROL ALGORITHMS THAT USE POLYNOMIAL-MODELS

In nonlinear model predictive control algorithms a nonlinear program i s solved online at every sampling time. This short note shows that for polynomial ARMA models and SISO systems, the global solution of the n onlinear program can be obtained by simply calculating the roots of a polynomial and examining the boundaries of a constraint region.