A missing link between nonlinear MPC schemes with guaranteed stability

We present an interesting link between two nonlinear MPC schemes with guaranteed stability. In particular, we show that terminal sets and costs designed for MPC with terminal constraints can be exploited to compute suitable prediction horizons for stabilizing MPC without terminal constraints.

• Type: Journal
• Year: 2015
• Where: CDC
• Authors: Moritz Schulze Darup, Mark Cannon
• Keywords: CDC 2015, Control Systems