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A nonlinear model predictive control framework using reference generic terminal ingredients
[article]
2019
arXiv
pre-print
In this paper, we present a quasi infinite horizon nonlinear model predictive control (MPC) scheme for tracking of generic reference trajectories. This scheme is applicable to nonlinear systems, which are locally incrementally stabilizable. For such systems, we provide a reference generic offline procedure to compute an incrementally stabilizing feedback with a continuously parameterized quadratic quasi infinite horizon terminal cost. As a result we get a nonlinear reference tracking MPC scheme
arXiv:1909.12765v1
fatcat:il5aybuhw5aejhidsqthxfyxli