Analysis and Design of Unconstrained Nonlinear MPC Schemes for Finite and Infinite Dimensional Systems
Abstract
We present a technique for computing stability and performance bounds for unconstrained nonlinear model predictive control (MPC) schemes. The technique relies on controllability properties of the system under consideration, and the computation can be formulated as an optimization problem whose complexity is independent of the state space dimension. Based on the insight obtained from the numerical solution of this problem, we derive design guidelines for nonlinear MPC schemes which guarantee stability of the closed loop for small optimization horizons. These guidelines are illustrated by a finite and an infinite dimensional example.
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Information & Authors
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Published In
SIAM Journal on Control and Optimization
Pages: 1206 - 1228
DOI: 10.1137/070707853
ISSN (online): 1095-7138
Copyright
Copyright © 2009 Society for Industrial and Applied Mathematics.
History
Submitted: 9 November 2007
Accepted: 3 December 2008
Published online: 25 March 2009
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