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Stability and robustness of nonlinear predictive control without stabilizing terminal constraints

Abstract : We developed a stability and guaranteed performance analysis method for MPC schemes with which we can compute optimization horizon bounds N under controllability assumptions. The approach can be coupled with robust MPC variants the method can be extended to analyzing varying control horizons. Main conclusion: larger and varying control horizons can be used without losing (nominal) stability and performance. However, longer control horizons may reduce robustness. Tasks in SADCO project: improve robustness using sensitivity techniques and integrated stability and robustness analysis.
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https://hal.inria.fr/inria-00585713
Contributor : Estelle Bouzat <>
Submitted on : Thursday, April 14, 2011 - 6:50:33 PM
Last modification on : Tuesday, February 16, 2021 - 10:10:03 AM
Long-term archiving on: : Thursday, November 8, 2012 - 4:30:58 PM

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Lars Grüne, Anders Rantzer, Nils Altmüller, Thomas Jahn, Jürgen Pannek, et al.. Stability and robustness of nonlinear predictive control without stabilizing terminal constraints. SADCO Kick off, Mar 2011, Paris, France. ⟨inria-00585713⟩

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