Nominally Robust Model Predictive Control With State Constraints

Abstract

In this paper, we present robust stability results for constrained discrete-time nonlinear systems using a finite-horizon model predictive control (MPC) algorithm for which we do not require the terminal cost to have any particular properties. We introduce a definition that attempts to characterize the robustness properties of the MPC optimization problem… (More)
DOI: 10.1109/TAC.2007.906187

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@article{Grimm2007NominallyRM, title={Nominally Robust Model Predictive Control With State Constraints}, author={Gene Grimm and Michael J. Messina and Sezai Emre Tuna and Andrew R. Teel}, journal={IEEE Transactions on Automatic Control}, year={2007}, volume={52}, pages={1856-1870} }