Patent ID: 8924331

Claim:
A method for controlling an automotive or aircraft system using an embedded Model-Based Predictive Control (MPC) controller by solving a quadratic programming optimization problem with constraints at each of a series of control sampling periods, said method comprising: implementing a semi-explicit quadratic programming solver in the embedded MPC controller that is adapted to solve the quadratic programming optimization problem with constraints at each of the series of control sampling periods; using the embedded MPC controller to solve a set of linear equations associated with a combination of active constraints and with said quadratic programming optimization problem at each of the series of control sampling periods based on a partial factorization approach; pre-computing a subset of partial factors of matrices associated with feasible combination of active constraints using an off-line factorization component, wherein the subset of partial factors includes less than all of the factors needed to solve the quadratic programming optimization problem; storing the pre-computed subset of partial factors of matrices associated with feasible combinations of active constraints computed in the off-line factorization component in an off-line portion of a memory of the embedded MPC controller; using the embedded MPC controller to finalize a factorization of said matrices associated with feasible combinations of active constraints using an on-line factorization component with respect to said quadratic programming optimization problem by utilizing said subset of partial factors stored in said off-line portion of said memory of the embedded MPC controller to effectively solve said at least one quadratic programming optimization problem with constraints; and providing a control signal from the embedded MPC controller to control at least part of the automotive or aircraft system, wherein the control signal is based at least part on the finalized factorization of said matrices.