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A parametric augmented Lagrangian algorithm for real-tim economic NMPC

A parametric augmented Lagrangian algorithm for real-tim economic NMPC

In this paper, a novel optimality-tracking algorithm for solving Economic Nonlinear Model Predictive Control (ENMPC) problems in real-time is presented. Developing online schemes for ENMPC is challenging, since it is unclear how convexity of the Quadratic Programming (QP) problem, which is obtained by linearisation of the NMPC program around the …