Complexity Analysis of the Piece-Wise Affine Approximation for the Car on the Nonlinear Hill Model Related To Discrete–Time, Minimum Time Control Problem

P. Orlowski


The main aim of the paper is to analyse effectiveness of the approximation method from the nonlinear discretised into discrete piece-wise affine model. Accuracy and numerical complexity of the piece-wise affine control system grow with the number of polyhedral partitions, that describe the system. The model with state dependent nonlinearity can be effectively approximated by proposed secant piece-wise linear approximation. The effectiveness of the proposed method is evaluated on the car on the nonlinear hill model.



predictive control; optimisation; piecewise linear approximation; discrete-time systems

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