Methods and systems for the design and implementation of optimal multivariable model predictive controllers for fast-sampling constrained dynamic systems

A system for controlling a constrained dynamic system, comprising:

• a processor;
• a data bus coupled to said processor;
• and
• a computer-usable medium embodying computer code, said computer-usable medium being coupled to said data bus, said computer program code comprising instructions executable by said processor and configured for:
• providing a state observer for determining a plurality of values associated with a constrained dynamic system in order to generate a plurality of state variables thereof;
• and
• implementing an explicit quadratic programming solver having an off-line part and an on-line part, said explicit quadratic programming solver solving at least one explicit quadratic programming problem utilizing at least one of a primal-dual feasibility algorithm and a graph algorithm, wherein said explicit quadratic programming solver computes a plurality of control signals based on said plurality of state variables and a plurality of matrices stored in said off-line part of said explicit quadratic programming solver to control said constrained dynamic system.