Analysis of unconstrained nonlinear MPC schemes with time varying control horizon
Optimization and Control
2011-09-27 v1
Abstract
For discrete time nonlinear systems satisfying an exponential or finite time controllability assumption, we present an analytical formula for a suboptimality estimate for model predictive control schemes without stabilizing terminal constraints. Based on our formula, we perform a detailed analysis of the impact of the optimization horizon and the possibly time varying control horizon on stability and performance of the closed loop.
Keywords
Cite
@article{arxiv.1006.2529,
title = {Analysis of unconstrained nonlinear MPC schemes with time varying control horizon},
author = {Lars Grüne and Jürgen Pannek and Martin Seehafer and Karl Worthmann},
journal= {arXiv preprint arXiv:1006.2529},
year = {2011}
}