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A Quasi-Infinite Horizon Nonlinear Model Predictive Control Scheme with Guaranteed Stability∗∗This paper was not presented at any IFAC meeting. This paper was accepted for publication in revised form by Associate Editor W. Bequette under the direction of Editor Prof. S. Skogestad
1998
Automatica
We present in this paper a novel nonlinear model predictive control scheme that guarantees asymptotic closedloop stability. The scheme can be applied to both stable and unstable systems with input constraints. The objective functional to be minimized consists of an integral square error (ISE) part over a finite time horizon plus a quadratic terminal cost. The terminal state penalty matrix of the terminal cost term has to be chosen as the solution of an appropriate Lyapunov equation.
doi:10.1016/s0005-1098(98)00073-9
fatcat:mpz6e3qmvnezta73fm53iwhyp4