A Sufficient Condition for the Stability of Nonlinear Model Predictive Controllers
نویسنده
چکیده
We propose a Model Predictive Control (MPC) framework to generate feedback controls for time-varying nonlinear systems with input constraints. We provide for this framework a set of conditions on the design parameters that are sufficient to guarantee the stability of the closed-loop response. This sufficient condition for stability allows MPC practitioners to verify a priori that a given set of design parameters will lead to stability. The generality of the framework gives us an increased flexibility to choose a set of stabilizing design parameters. This flexibility can be explored to reduce the terminal constraints that are traditionally imposed on the optimal control problems (OCPs). This results in OCPs that can solved more efficiently by current optimization algorithms.
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