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Stability and feasibility of state-constrained linear MPC without stabilizing terminal constraints

Abstract : This paper is concerned with stability and recur-sive feasibility of constrained linear receding horizon control schemes without terminal constraints and costs. Particular attention is paid to characterize the basin of attraction S of the asymptotically stable equilibrium. For stabilizable linear systems with quadratic costs and convex constraints we show that any compact subset of the interior of the viability kernel is contained in S for sufficiently large optimization horizon N . An analysis at the boundary of the viability kernel provides a connection between the growth of the infinite horizon optimal value function and stationarity of the feasible sets. Several examples are provided which illustrate the results obtained.
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https://hal.inria.fr/hal-01098279
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Submitted on : Tuesday, December 23, 2014 - 3:40:27 PM
Last modification on : Friday, October 13, 2017 - 5:08:16 PM
Long-term archiving on: : Tuesday, March 24, 2015 - 10:41:37 AM

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  • HAL Id : hal-01098279, version 1

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Andrea Boccia, Lars Grüne, Karl Worthmann. Stability and feasibility of state-constrained linear MPC without stabilizing terminal constraints . MTNS 2014, 2014, Los Angeles, United States. pp.453-460. ⟨hal-01098279⟩

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