Economic model predictive control with self-tuning terminal cost

In this paper, we propose an economic model predictive control (MPC) framework with a self-tuning terminal weight, which builds on a recently proposed MPC algorithm with a generalized terminal state constraint. First, given a general time-varying terminal weight, we derive an upper bound on the closed-loop average performance which depends on the limit value of the predicted terminal state. After that, we derive conditions for a self-tuning terminal weight such that bounds for this limit value can be obtained. Finally, we propose several update rules for the self-tuning terminal weight and analyze their respective properties. We illustrate our findings with several examples.