MPC for nonlinear systems: a comparative review of discretization methods
Provides a comparative review of discretization methods for nonlinear MPC, but is incremental as it evaluates existing methods on standard test cases.
This paper compares three discretization methods (direct multiple shooting, direct collocation, successive linearizations) for nonlinear model predictive control, evaluating their performance through two test cases.
This work provides a comparative review of three different numerical methods generally used to discretize continuous-time non-linear equations appearing in model predictive control problems: direct multiple shooting, direct collocation and successive linearizations. An overview of the characteristics of each method is given and the performance of each method is evaluated through the simulation of two test cases.