Stable MPC with maximal terminal sets and quadratic terminal costs

Mikael Johansson; Hamed Taghavian

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arXiv · 2406.02760

Stable MPC with maximal terminal sets and quadratic terminal costs

Mikael Johansson·Hamed Taghavian

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Abstract

This paper develops a technique for computing a quadratic terminal cost for linear model predictive controllers that is valid for all states in the maximal control invariant set. This maximizes the set of recursively feasible states for the controller, ensures asymptotic stability using standard proofs, and allows for easy tuning of the controller in linear operation.

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BibTeX RIS

Mikael Johansson, Hamed Taghavian. 2024-06-04. Stable MPC with maximal terminal sets and quadratic terminal costs. https://arxiv.org/abs/2406.02760

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