On Piecewise Quadratic Terminal Costs for MPC
Abstract
This paper presents a novel approach to synthesize stabilizing termi- nal ingredients for linear model predictive control (MPC) schemes, with the aim of increasing the region of attraction while reducing suboptimal- ity with respect to the solution of the infinite-horizon optimal control problem. It is based on the construction of a novel terminal region using methods from the field of configuration-constrained polytopic computing, along with a terminal cost that is exactly equal to the infinite-horizon linear-quadratic regulator cost in a nontrivial neighborhood of the steady- state. The practical performance of the controller is illustrated through various case studies, and comparisons with state-of-the-art approaches are presented.
Cite
@article{arxiv.2605.18510,
title = {On Piecewise Quadratic Terminal Costs for MPC},
author = {Sampath Kumar Mulagaleti and Boris Houska and Mario Zanon and Mario E. Villanueva},
journal= {arXiv preprint arXiv:2605.18510},
year = {2026}
}
Comments
21 pages, 4 figures