# Suboptimal nonlinear model predictive control with input move-blocking

@article{Makarow2021SuboptimalNM, title={Suboptimal nonlinear model predictive control with input move-blocking}, author={Artemi Makarow and Christoph R{\"o}smann and Torsten Bertram}, journal={ArXiv}, year={2021}, volume={abs/2109.12355} }

This paper deals with the integration of input move-blocking into the framework of suboptimal model predictive control. The blocked input parameterization is explicitly considered as a source of suboptimality. A straightforward integration approach is to hold back a manually generated stabilizing fallback solution in some buffer for the case that the optimizer does not find a better input move-blocked solution. An extended approach superimposes the manually generated stabilizing warm-start by…

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