It has recently been shown that the feedback solution to linear and quadratic constrained Model Predictive Control (MPC) problems has an explicit representation as a piecewise linear (PWL) state feedback. For nonlinear MPC the prospects of explicit solutions are even higher than for linear MPC, since the bene...ts of computational e¢ ciency and veri...ability are even more important. Preliminary studies on approximate explicit PWL solutions of convex nonlinear MPC problems, based on

more »

... tric Nonlinear Programming (mp-NLP) ideas show that sub-optimal PWL controllers of practical complexity can indeed be computed o¤line. However, for non-convex problems there is a need to investigate practical computational methods that not necessarily lead to guaranteed properties, but when combined with veri...cation and analysis methods will give a practical tool for development and implementation of explicit NMPC. The present paper focuses on the development of such methods. As a case study, the application of the developed approaches to compressor surge control is considered.