| 摘要 |
<p>The present inventive concept relates to parallel processing in piecewise affine control. The inventive concept includes a method of controlling a system by means of an explicit model predictive control, EMPC, or explicit moving horizon estimator, EMHE, control strategy, wherein the system is associated with a state space describing states that the system can obtain and which state space is composed of a plurality of regions. Each region is defined by a set of points in state space which fulfil a region-specific relation, and each region being associated with an index, wherein each index is associated with a control law. The method comprises: a) determining a current state of the system, the current state corresponding to a point in state space, b) determining an index of that region which comprises the current state by determining a region-specific relation that is fulfilled with respect to the current state, wherein the determining of the index is performed in a parallel manner such that the current state is evaluated with respect to at least two different region-specific relations in parallel, c) determining a control law associated with the index, and d) controlling the system based on the control law. Additional methods, a computer program, a computer program product and a control system are also presented herein.</p> |
