Publications by Milan Korda | EPFL Graph Search

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This paper describes synthesis of controllers involving Quadratic Programming (QP) optimization problems for control of nonlinear systems. The QP structure allows an implementation of the controller as a piecewise affine function, pre-computed offline, whi ...

This work presents an algorithmic scheme for solving the infinite-time constrained linear quadratic regulation problem. We employ an accelerated version of a popular proximal gradient scheme, commonly known as the Forward-Backward Splitting (FBS), and prov ...

This paper presents a method to verify closed-loop properties of optimization-based controllers for deterministic and stochastic constrained polynomial discrete-time dynamical systems. The closed-loop properties amenable to the proposed technique include g ...

This thesis uses the idea of lifting (or embedding) a nonlinear controlled dynamical system into an infinite-dimensional space of measures where this system is equivalently described by a linear equation. This equation and problems involving it are subsequ ...

We address the long-standing problem of computing the region of attraction (ROA) of a target set (typically a neighborhood of an equilibrium point) of a controlled nonlinear system with polynomial dynamics and semialgebraic state and input constraints. We ...

This paper deals with the nite horizon stochastic optimal control problem with the expectation of the p-norm as the objective function and jointly Gaussian, although not necessarily independent, additive disturbance process. We develop an approximation str ...

We characterize the maximum controlled invariant (MCI) set for discrete-time systems as the solution of an infinite-dimensional linear programming problem. In the case of systems with polynomial dynamics and semialgebraic state and control constraints, we ...

This paper proposes a stability verification method for systems controlled by an early terminated first-order method (e.g., an MPC problem approximately solved by a fixed number of iterations of the fast gradient method). The method is based on the observa ...

This paper considers linear discrete-time systems with additive, bounded, disturbances subject to hard control input bounds and a stochastic constraint on the amount of state-constraint violation averaged over time. The amount of violations is quantified b ...

This paper presents a method to solve the constrained infinite-time linear quadratic regulator (LQR) problem. We use an operator splitting technique, namely the alternating minimization algorithm (AMA), to split the problem into an unconstrained LQR proble ...

This paper considers linear discrete-time systems with additive bounded disturbances subject to hard control input bounds and constraints on the expected number of state-constraint violations averaged over time, or, equivalently, constraints on the probabi ...

This paper investigates the relations between three different properties, which are of importance in optimal control problems: dissipativity of the underlying dynamics with respect to a specific supply rate, optimal operation at steady state, and the turnp ...

We characterize the maximum controlled invariant (MCI) set for discrete- as well as continuous-time nonlinear dynamical systems as the solution of an infinite-dimensional linear programming problem. For systems with polynomial dynamics and compact semialge ...

This work considers the infinite-time discounted optimal control problem for continuous time input-affine polynomial dynamical systems subject to polynomial state and box input constraints. We propose a sequence of sum-of-squares (SOS) approximations of th ...

We study the convergence rate of the moment-sum-of-squares hierarchy of semidefinite programs for optimal control problems with polynomial data. It is known that this hierarchy generates polynomial under-approximations to the value function of the optimal ...

Model Predictive Control (MPC) for buildings has gained a lot of attention recently. It has been shown that MPC can achieve significant energy savings in the range between 15-30 % compared to a conventional control strategy, e.g., to a rule-based controlle ...

We investigate the turnpike and dissipativity properties of continuous-time optimal control problems. These properties play a key role in the analysis and design of schemes for dynamic real-time optimization and economic model predictive control. We show i ...

Milan Korda

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Technical Report: Control of Nonlinear Systems with Explicit-MPC-like Controllers

Solving the Infinite-horizon Constrained LQR Problem using Accelerated Dual Proximal Methods

Y Stability and performance verification of optimization-based controllers

Moment-sum-of-squares hierarchies for set approximation and optimal control

Convex computation of the region of attraction of polynomial control systems

Nonquadratic Stochastic Model Predictive Control: A Tractable Approach

Convex computation of the maximum controlled invariant set for discrete-time polynomial control systems

Certification of fixed computation time first-order optimization-based controllers for a class of nonlinear dynamical systems

Stochastic MPC framework for controlling the average constraint violation

Solving the infinite-horizon constrained LQR problem using splitting techniques

Convex computation of the region of attraction of polynomial control systems

Stochastic Model Predictive Control: Controlling the Average Number of Constraint Violations

On turnpike and dissipativity properties of continuous-time optimal control problems

Convex computation of the maximum controlled invariant set for polynomial control systems

Controller design and value function approximation for nonlinear dynamical systems

Convergence rates of moment-sum-of-squares hierarchies for optimal control problems

On the selection of the most appropriate MPC problem formulation for buildings

Turnpike and dissipativity properties in dynamic real-time optimization and economic MPC