Stable MPC with maximal terminal sets and quadratic terminal costs

2024/06/04 by Mikael Johansson, Johansson, Mikael, Hamed Taghavian +1 · 1 citation
Engineering · #Advanced Control Systems Optimization #FOS: Electrical engineering #FOS: Mathematics #Optimization and Control (math.OC) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2406.02760

openalex publication_date 2024/06/04 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

This paper develops a technique for computing a quadratic terminal cost for linear model predictive controllers that is valid for all states in the maximal control invariant set. This maximizes the set of recursively feasible states for the controller, ensures asymptotic stability using standard proofs, and allows for easy tuning of the controller in linear operation.

Cited by

• Approximate Solution Methods for the Average Reward Criterion in Optimal Tracking Control of Linear Systems

Related

• Stability proof for nonlinear MPC design using monotonically increasing\n weighting profiles without terminal constraints
• Stability and Performance Guarantees for MPC Algorithms without Terminal Constraints
• Stability and performance in MPC using a finite-tail cost
• Stability of Finite Horizon Optimisation based Control without Terminal Weight
• A model predictive control framework with robust stability guarantees under large disturbances