Title data
Coron, JeanMichel ; Grüne, Lars ; Worthmann, Karl:
Model predictive control, cost controllability, and homogeneity.
In: SIAM Journal on Control and Optimization.
Vol. 58
(October 2020)
Issue 5
.
 pp. 29792996.
ISSN 03630129
DOI: https://doi.org/10.1137/19M1265995
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We are concerned with the design of Model Predictive Control (MPC) schemes such that asymptotic stability of the resulting closed loop is guaranteed even if the linearization at the desired set point fails to be stabilizable. Therefore, we propose to construct the stage cost based on the homogeneous approximation and rigorously show that applying MPC yields an asymptotically stable closedloop behavior if the homogeneous approximation is asymptotically null controllable. To this end, we verify cost controllability  a condition relating the current state, the stage cost, and the growth of the value function w.r.t. time  for this class of systems in order to provide stability and performance guarantees for the proposed MPC scheme without stabilizing terminal costs or constraints.
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Model predictive control, cost controllability, and homogeneity. (deposited 14 Jun 2019 06:41)
 Model predictive control, cost controllability, and homogeneity. (deposited 02 Nov 2020 07:45) [Currently Displayed]