Valencia-Palomo, G.Rossiter, J. A.Jones, ColinGondhalekar, RaviKhan, B.2011-10-242011-10-242011-10-24201110.1109/ACC.2011.5990639https://infoscience.epfl.ch/handle/20.500.14299/71900This paper looks at the efficiency of the parame- terisation of the degrees of freedom within an optimal predictive control algorithm. It is shown that the conventional approach of directly determining each individual future control move is not efficient in general, and can give poor feasibility when the number of degrees of freedom are limited. Two systematic alternatives are explored and both shown to be far more efficient in general.text::conference output::conference proceedings::conference paper