A new formulation of Economic Model Predictive Control without terminal constraint

In this paper, it is shown that a simple formulation of Economic Model Predictive Control can be used which possesses two features are generally viewed as mutually exclusive, namely, rather short prediction horizon (reachability-compatible) on one side, and the absence final constraint other side. Practical stability at an arbitrarily small neighborhood optimal unknown steady-state pair when some design parameters increase. It also system originated from time discretization continuous-time dynamics, size terminal region reduced by decreasing sampling period for same parameter setting. A commonly example given to illustrate results.