Journal of Optimization Theory and Applications
On constrained infinite-time linear quadratic optimal control
Systems & Control Letters
Discrete-time stability with perturbations: application to model predictive control
Automatica (Journal of IFAC)
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
The explicit linear quadratic regulator for constrained systems
Automatica (Journal of IFAC)
Brief A receding-horizon approach to the nonlinear H∞ control problem
Automatica (Journal of IFAC)
On a control algorithm for time-varying processor availability
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
Brief paper: Set membership approximation of discontinuous nonlinear model predictive control laws
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Solutions to hybrid inclusions via set and graphical convergence with stability theory applications
Automatica (Journal of IFAC)
Robust output feedback model predictive control of constrained linear systems
Automatica (Journal of IFAC)
Input to state stability of min-max MPC controllers for nonlinear systems with bounded uncertainties
Automatica (Journal of IFAC)
Provably safe and robust learning-based model predictive control
Automatica (Journal of IFAC)
Generalized terminal state constraint for model predictive control
Automatica (Journal of IFAC)
Hi-index | 22.16 |
We consider nominal robustness of model predictive control for discrete-time nonlinear systems. We show, by examples, that when the optimization problem involves state constraints, or terminal constraints coupled with short optimization horizons, the asymptotic stability of the closed loop may have absolutely no robustness. That is to say, it is possible for arbitrarily small disturbances to keep the closed loop strictly inside the interior of the feasibility region of the optimization problem and, at the same time, far from the desired set point. This phenomenon does not occur when using model predictive control for linear systems with convex constraint sets. We emphasize that a necessary condition for the absence of nominal robustness in nonlinear model predictive control is that the value function and feedback law are discontinuous at some point(s) in the interior of the feasibility region.