Regional Input-to-State Stability for Nonlinear Model Predictive Control

@article{Magni2006RegionalIS,
  title={Regional Input-to-State Stability for Nonlinear Model Predictive Control},
  author={Lalo Magni and Davide Martino Raimondo and Riccardo Scattolini},
  journal={IEEE Transactions on Automatic Control},
  year={2006},
  volume={51},
  pages={1548-1553}
}
In this note, regional input-to-state stability (ISS) is introduced and studied in order to analyze the domain of attraction of nonlinear constrained systems with disturbances. ISS is derived by means of a non smooth ISS-Lyapunov function with an upper bound guaranteed only in a sub-region of the domain of attraction. These results are used to study the ISS properties of nonlinear model predictive control (MPC) algorithms 
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