Analysis and Design of Unconstrained Nonlinear MPC Schemes for Finite and Infinite Dimensional Systems

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Grüne, Lars:
Analysis and Design of Unconstrained Nonlinear MPC Schemes for Finite and Infinite Dimensional Systems.
Bayreuth , 2007

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Abstract

We present a technique for computing stability and performance bounds for unconstrained nonlinear model predictive control (MPC) schemes. The technique relies on controllability properties of the system under consideration and the computation can be formulated as an optimization problem whose complexity is independent of the state space dimension. Based on the insight obtained from the numerical solution of this problem we derive design guidelines.