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.
Vol. 68
(2023)
Issue 10
.
 pp. 61146129.
ISSN 15582523
DOI: https://doi.org/10.1109/TAC.2023.3235244
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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.
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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]