Dominant speed factors of active set methods for fast MPC

The paper presents a review of active set (AS) algorithms that have been deployed for implementation of fast model predictive control (MPC). The main purpose of the survey is to identify the dominant features of the algorithms that contribute to fast execution of online MPC and to study their influence on the speed. The simulation study is conducted on two benchmark examples where the algorithms are analyzed in the number of iterations and in the workload per iteration. The obtained results suggest directions for potential improvement in the speed of existing AS algorithms.