Convergence Properties of Fast quasi-LPV Model Predictive Control

In this paper, we study the convergence properties of an iterative algorithm for fast nonlinear model predictive control of quasi-linear parameter-varying systems without inequality constraints. Compared to previous works considering this algorithm, we contribute conditions under which the iterations are guaranteed to converge. Furthermore, we show that the algorithm converges to suboptimal solutions and propose an optimality-preserving variant with moderately increased computational complexity. Finally, we compare both variants in terms of quality of solution and computational performance with a state-of-the-art solver for nonlinear model predictive control in two simulation benchmarks.