Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: An Adaptive Partial Sensitivity Updating Scheme for Fast Nonlinear Model
  Predictive Control   In recent years, efficient optimization algorithms for Nonlinear Model
Predictive Control (NMPC) have been proposed, that significantly reduce the
on-line computational time. In particular, direct multiple shooting and
Sequential Quadratic Programming (SQP) are used to efficiently solve Nonlinear
Programming (NLP) problems arising from continuous-time NMPC applications. One
of the computationally demanding steps for on-line optimization is the
computation of sensitivities of the nonlinear dynamics at every sampling
instant, especially for systems of large dimensions, strong stiffness, and when
using long prediction horizons. In this paper, within the algorithmic framework
of the Real-Time Iteration (RTI) scheme based on multiple shooting, an inexact
sensitivity updating scheme is proposed, that performs a partial update of the
Jacobian of the constraints in the NLP. Such update is triggered by using a
Curvature-like Measure of Nonlinearity (CMoN), so that only sensitivities
exhibiting highly nonlinear behaviour are updated, thus adapting to system
operating conditions and possibly reducing the computational burden. An
advanced tuning strategy for the updating scheme is provided to automatically
determine the number of sensitivities being updated, with a guaranteed bounded
error on the Quadratic Programming (QP) solution. Numerical and control
performance of the scheme is evaluated by means of two simulation examples
performed on a dedicated implementation. Local convergence analysis is also
presented and a tunable convergence rate is proven, when applied to the SQP
method.

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The categories of this paper are: dg-ga
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The categories of this paper are: atom-ph
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The categories of this paper are: nucl-ex
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The categories of this paper are: hep-lat
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The categories of this paper are: plasm-ph
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The categories of this paper are: q-alg
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The categories of this paper are: q-fin
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The categories of this paper are: comp-gas
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The categories of this paper are: bayes-an
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The categories of this paper are: adap-org
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The categories of this paper are: hep-th
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The categories of this paper are: physics
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The categories of this paper are: cond-mat
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The categories of this paper are: funct-an
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The categories of this paper are: astro-ph
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The categories of this paper are: eess