NDLI: On the stability of constrained MPC without terminal constraint

Content Provider	IEEE Xplore Digital Library
Author	Limon, D. Alamo, T. Salas, F. Camacho, E.F.
Copyright Year	1963
Abstract	The usual way to guarantee stability of model predictive control (MPC) strategies is based on a terminal cost function and a terminal constraint region. This note analyzes the stability of MPC when the terminal constraint is removed. This is particularly interesting when the system is unconstrained on the state. In this case, the computational burden of the optimization problem does not have to be increased by introducing terminal state constraints due to stabilizing reasons. A region in which the terminal constraint can be removed from the optimization problem is characterized depending on some of the design parameters of MPC. This region is a domain of attraction of the MPC without terminal constraint. Based on this result, it is proved that weighting the terminal cost, this domain of attraction of the MPC controller without terminal constraint is enlarged reaching (practically) the same domain of attraction of the MPC with terminal constraint; moreover, a practical procedure to calculate the stabilizing weighting factor for a given initial state is shown. Finally, these results are extended to the case of suboptimal solutions and an asymptotically stabilizing suboptimal controller without terminal constraint is presented.
Sponsorship	IEEE Control Systems Society
Starting Page	832
Ending Page	836
Page Count	5
File Size	213453
File Format	PDF
ISSN	00189286
Volume Number	51
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-05-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Cost function Constraint optimization Predictive control Sampling methods Predictive models Stability analysis Design optimization Current control Trajectory suboptimal control Asymptotic stability predictive control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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