Efficient solution of a qp optimization problem with zonotopic constraints


F. Stoican and Hovd, M., “Efficient solution of a qp optimization problem with zonotopic constraints”, in Proceedings of the 21th IEEE International Conference on Control Applications, part of 2012 IEEE Multi-Conference on Systems and Control, Dubrovnik, Croatia, 2012, p. 457–462.

Date Published:

3-5 October

ISBN Number:



In this paper we analyze the advantages of describing the constraint set of a constrained optimization problem by an (inner-approximating) zonotope. We compare this with the usual polytopic description and note that by using the generator description characterizing zonotopes we can exploit their special structure in order to obtain a simpler formulation of the optimization problem. We test the results on a typical MPC setting and observe the improvements.