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arXiv · 2603.16808

Exponential stability of data-driven nonlinear MPC based on input/output models

Lea Bold·Irene Schimperna·Karl Worthmann·Johannes Köhler
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Abstract

We consider nonlinear model predictive control (MPC) schemes without stabilizing terminal conditions, where the model used in the optimization step is generated based on input-output data only. We establish exponential stability for sufficiently long prediction horizons assuming exponential stabilizability and a proportional error bound. Moreover, we verify the imposed condition on the approximation using kernel interpolation and demonstrate the practical applicability to nonlinear systems by numerical simulations.

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Lea Bold, Irene Schimperna, Karl Worthmann, Johannes Köhler. 2026-03-17. Exponential stability of data-driven nonlinear MPC based on input/output models. https://arxiv.org/abs/2603.16808

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