{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/fast-system-level-synthesis-robust-model","title":"Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions","arxiv_id":"2401.13762","date":"2024-01-24","proceeding":null,"authors":["Antoine P. Leeman","Johannes Köhler","Florian Messerer","Amon Lahr","Moritz Diehl","Melanie N. Zeilinger"],"abstract":"System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback optimization problem for linear time-varying systems. The proposed algorithm iterates between optimizing the controller and the nominal trajectory while converging q-linearly to an optimal solution. We show that the controller optimization can be solved through Riccati recursions leading to a horizon-length, state, and input scalability of $\\mathcal{O}(N^2 ( n_x^3 +n_u^3))$ for each iterate. On a numerical example, the proposed algorithm exhibits computational speedups by a factor of up to $10^3$ compared to general-purpose commercial solvers.","url_abs":"https://arxiv.org/abs/2401.13762v2","url_pdf":"https://arxiv.org/pdf/2401.13762v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"fast-system-level-synthesis-robust-model","repo_url":"https://gitlab.ethz.ch/ics/fast-sls","is_official":1,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}