# simplify

Reduce explicit MPC controller complexity and memory requirements

## Syntax

## Description

attempts to reduce the number of piecewise affine (PWA) regions in an explicit MPC
controller by merging regions that have identical controller gains and whose union
is a convex set. Reducing the number of PWA regions reduces memory requirements of
the controller. This command returns a reduced controller,
`EMPCreduced`

= simplify(`empcobj`

,'exact')`EMPCreduced`

. If the second argument is omitted then it is
assumed to be 'exact'.

specifies the tolerance for identifying regions that can be merged.`EMPCreduced`

= simplify(`empcobj`

,'exact',`uniteeps`

)

retains only regions whose Chebyshev radius (the radius of the largest ball
contained in the region) is larger than `EMPCreduced`

= simplify(`empcobj`

,'radius',`r`

)`r`

.

eliminates all regions except those specified in an index vector. `EMPCreduced`

= simplify(`empcobj`

,'sequence',`index`

)

`simplify(`

applies the reduction to the explicit MPC controller `empcobj`

,___)`empcobj`

,
rather than returning a new controller object. You can use this syntax with any of
the previous reduction options.

## Examples

## Input Arguments

## Output Arguments

## Version History

**Introduced in R2014b**

## See Also

### Functions

`generateExplicitMPC`

|`generateExplicitRange`

|`generateExplicitOptions`

|`generatePlotParameters`

|`plotSection`

|`mpcmoveExplicit`

|`sim`

### Objects

`mpc`

|`explicitMPC`

|`mpcstate`