Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizons
Optimization and Control
2012-04-02 v1
Abstract
For nonlinear discrete time systems satisfying a controllability condition, we present a stability condition for model predictive control without stabilizing terminal constraints or costs. The condition is given in terms of an analytical formula which can be employed in order to determine a prediction horizon length for which asymptotic stability or a performance guarantee is ensured. Based on this formula a sensitivity analysis with respect to the prediction and the possibly time varying control horizon is carried out.
Keywords
Cite
@article{arxiv.1203.6783,
title = {Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizons},
author = {Lars Grüne and Jürgen Pannek and Martin Seehafer and Karl Worthmann},
journal= {arXiv preprint arXiv:1203.6783},
year = {2012}
}
Comments
7 pages, 4 figures