Patent Document ID: 9766601
Application ID: 14480769
Patent Status: 1

Claim One:
1. A method for controlling a system using an explicit model predictive control (EMPC), comprising: evaluating, with respect to a state of the system, each inequality in a set of inequalities defining a set of regions of a state space of the system to produce a set of Boolean results, wherein at least some of the inequalities in the set of inequalities are evaluated concurrently, and wherein a size of the set of Boolean results is equal to a size of the set of inequalities; determining a region including the state by applying a Boolean function to elements of the set of Boolean results corresponding to inequalities forming boundaries of the region, wherein at least some Boolean functions are applied to corresponding elements concurrently after all elements in the set of Boolean results are evaluated; and determining a control for controlling the system based on the state and a gain associated with the region, wherein steps of the method are performed by a processor; wherein the set of Boolean results is a binary vector, wherein each element of the binary vector is one when a Boolean result of a corresponding inequality is true, and, otherwise, is zero, and further comprising: determining Boolean functions for all combinations of elements of the binary vector forming boundaries of each region in the set of regions to produce an output vector, wherein the Boolean function is a product of a combination of the elements, so that an element of the output vector corresponding to the region is one, and other elements of the output vector are zero.