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arXiv · 1703.02761

Stability proof for nonlinear MPC design using monotonically increasing weighting profiles without terminal constraints

Mazen Alamir
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Abstract

In this note, a new formulation of Model Predictive Control (MPC) framework with no stability-related terminal constraint is proposed and its stability is proved under mild standard assumptions. The novelty in the formulation lies in the use of time-varying monotonically increasing stage cost penalty. The main result is that the $0$-reachability prediction horizon can always be made stabilizing provided that the increasing rate of the penalty is made sufficiently high.

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Mazen Alamir. 2017-03-08. Stability proof for nonlinear MPC design using monotonically increasing weighting profiles without terminal constraints. https://arxiv.org/abs/1703.02761

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