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arXiv · 1006.2529

Analysis of unconstrained nonlinear MPC schemes with time varying control horizon

Lars Grüne·Jürgen Pannek·Martin Seehafer·Karl Worthmann
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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.

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Lars Grüne, Jürgen Pannek, Martin Seehafer, Karl Worthmann. 2010-06-13. Analysis of unconstrained nonlinear MPC schemes with time varying control horizon. https://doi.org/10.1137/090758696

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