Model Predictive Control (MPC) is an application of control that is highly popular due to its sensible
approach and its ease of implementation. These qualities give MPC an advantage over Linear Quadratic
(LQ) control, even though LQ will result in the optimal result where feasible. Recent advancements have
resulted in greater computational power, which has given rise to the development of more complicated
MPC algorithms, but there are instances when the complexity of the calculations involved will result
in the amount of computations involved or ill-conditioning of the problem. [Continues.]
A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy at Loughborough University.