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arXiv · 1203.6783

Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizons

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

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Lars Grüne, Jürgen Pannek, Martin Seehafer, Karl Worthmann. 2012-03-30. Analysis of Unconstrained Nonlinear MPC Schemes with Time Varying Control Horizons. https://arxiv.org/abs/1203.6783

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