Johansen T.Grancharova A.2024-07-102024-07-102024-07-102024-07-102003-05-010018-928610.1109/TAC.2003.811259SCOPUS_ID:0037955662https://rlib.uctm.edu/handle/123456789/83Solutions to constrained linear model predictive control problems can be precomputed offline in an explicit form as a piecewise linear state feedback on a polyhedral partition of the state-space, avoiding real-time optimization. We suggest an algorithm that will determine an approximate explicit piecewise linear state feedback by imposing an orthogonal search tree structure on the partition. This leads to a real-time computational complexity that is logarithmic in the number of regions in the partition, and the algorithm yields guarantees on the suboptimality, asymptotic stability and constraint fulfillment.enArticle