Transient Performance of Tube-based Robust Economic Model Predictive Control

In this paper, we provide non-averaged and transient performance guarantees for recently developed, tube-based robust economic model predictive control (MPC) schemes. particular, consider both MPC schemes with without terminal conditions. We show that the closed-loop obtained by applying such is approximately optimal when evaluated on finite infinite time horizons. These bounds are similar to those derived previously nominal MPC. The theoretical results discussed in a numerical example.