Iterative nonlinear model predictive control. Stability, robustness and applications

Stability and Continuity of Nonlinear Model Predictive Control Stability and Continuity of Nonlinear Model Predictive Control Stability and Continuity of Nonlinear Model Predictive Control

Acknowledgments I would like to express my appreciation to my advisor, Dr. James B. Rawl-ings. His diicult questions have pushed this work forward when it stalled and his insight has allowed me to progress when it seemed impossible. His vision of computing in this profession has provided his research group with the best computer facilities at the University. The work reported in this dis-sertat...

Model Predictive Control of Hybrid Systems: Stability and Robustness

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On the Stability and Robustness of Non-Smooth Nonlinear Model Predictive Control

This paper considers discrete-time nonlinear, possibly discontinuous, systems in closed-loop with Model Predictive Controllers (MPC). The aim of the paper is to provide a priori sufficient conditions for asymptotic stability in the Lyapunov sense and robust stability, while allowing for both the system dynamics and the value function of the MPC cost (the usual candidate Lyapunov function in MPC...

Nonlinear Model Predictive Control

Overview of Nonlinear Model Predictive Control Schemes Leading to Stability