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arXiv · 2609.09930

The Global Asymptotic Stability Problem for Linear MPC Is Undecidable

Johan Löfberg
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Abstract

We prove that deciding global asymptotic stability for constrained finite-horizon linear model predictive control is undecidable. This holds at horizon one with identity state, input, and terminal weights, unique optimizers, and global feasibility. Separate reductions cover predicted-state boxes, hard input boxes, and quadratically softened input boxes. A fourth reduction fixes the state and input dimensions to three and six. Hence undecidability is not caused by long horizons, growing dimensions, failures of recursive feasibility, or nonuniqueness.

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Johan Löfberg. 2026-09-09. The Global Asymptotic Stability Problem for Linear MPC Is Undecidable. https://arxiv.org/abs/2609.09930

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