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Model predictive control of discrete-time nonlinear systems with incremental input constraints is proposed in this paper. Firstly, the existence of the terminal set and terminal penalty is proven on the assumption that the considered system is twice continuously differentiable. Secondly, properties of the optimal cost function are exploited. It shows that the optimal cost function is positive semi-definite,...
We consider inherent robustness properties of model predictive control (MPC) for continuous-time nonlinear systems with input constraints and terminal constraints. We show that MPC with a nominal prediction model and persistent but bounded disturbances has some degree of inherent robustness when the terminal control law and the terminal penalty matrix are chosen as the linear quadratic control law...
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