For detailed description and theory see our paper, entitled "Nonlinear Control Allocation Using A Piecewise Multi-Linear Representation".
https://arxiv.org/abs/2208.10411
If you use this work for your projects, please take the time to cite our paper:
@misc{rajput2022,
title = {Nonlinear Control Allocation Using A Piecewise Multi-Linear Representation},
author = {Rajput, Jahanzeb and Khan, Hafiz Zeeshan Iqbal},
year = {2022},
eprint={2208.10411},
archivePrefix={arXiv},
primaryClass={eess.SY}
}