Title data
Köhler, Johannes ; Zeilinger, Melanie ; Grüne, Lars:
Stability and performance analysis of NMPC : Detectable stage costs and general terminal costs.
In: IEEE Transactions on Automatic Control.
(9 January 2023)
.
 16 S..
ISSN 15582523
DOI: https://doi.org/10.1109/TAC.2023.3235244
This is the latest version of this item.
Related URLs
Abstract in another language
We provide a stability and performance analysis for nonlinear model predictive control (NMPC) schemes subject to input constraints. Given an exponential stabilizability and detectability condition w.r.t. the employed state cost, we provide a sufficiently long prediction horizon to ensure asymptotic stability and a desired performance bound w.r.t. the infinitehorizon optimal controller. Compared to existing results, the provided analysis is applicable to positive semidefinite (detectable) cost functions, provides tight bounds using a linear programming analysis, and allows for a seamless integration of general positivedefinite terminal cost functions in the analysis. The practical applicability of the derived theoretical results are demonstrated with numerical examples.
Further data
Available Versions of this Item

Stability and performance analysis of NMPC : Detectable stage costs and general terminal costs. (deposited 26 Oct 2021 08:00)
 Stability and performance analysis of NMPC : Detectable stage costs and general terminal costs. (deposited 11 Jan 2023 08:35) [Currently Displayed]