Optimization-based control for constrained systems with fast dynamics

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The primary objective of this research program is to advance the knowledge and application of optimization- based control for constrained systems with fast dynamics, such as those prevalent in the automotive, robotics and aerospace fields. Although many optimization schemes exist for unconstrained systems, difficulties are encountered when incorporating constraints directly into the problem formulation. Real-time implementation of constrained optimal controllers on fast systems has only recently become a realistic possibility thanks to the advanced computational power of modern computers. My research program aims to develop control algorithms that allow for consistent and practical implementation of constrained optimization schemes on systems with fast dynamics with two key objectives - the advancement of knowledge, and the implementation of control algorithms on relevant industrial systems. The focus of my current research has been the optimization-based model predictive control methodology.