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Suboptimal Infinite Horizon Nonlinear Model Predictive Control forDiscrete Time Systems

Author(s):

R. Findeisen, J.B. Rawlings
Conference/Journal:

vol. AUT97-13
Abstract:

This paper presents a new model predictive control scheme for nonlinear, time--invariant discrete time systems subject to input and state constraints. The resulting controller does not rely on the satisfaction of a zero endpoint constraint to guarantee asymptotic stability. Instead a quadratic final state penalty is used and the last predicted state has to lay in a terminal region. Additionally the calculated input does not have to be optimal at every time-step, only a feasible, the cost function ``decreasing'' input profile has to be found at every control step. This leads to a computationally very attractive control strategy. It is outlined that the resulting controller is exponentially stabilizing in the region of attraction if the cost function is quadratic.

Year:

1997
Type of Publication:

(04)Technical Report
Supervisor:



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% Autogenerated BibTeX entry
@TechReport { FinRaw:1997:IFA_1455,
    author={R. Findeisen and J.B. Rawlings},
    title={{Suboptimal Infinite Horizon Nonlinear Model Predictive
	  Control forDiscrete Time Systems}},
    institution={},
    year={1997},
    number={},
    address={},
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=1455}
}
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