URN to cite this document: urn:nbn:de:bvb:703-epub-5653-3
Title data
Grüne, Lars ; Pannek, Jürgen ; Seehafer, Martin ; Worthmann, Karl:
Analysis of unconstrained nonlinear MPC schemes with time varying control horizon.
Bayreuth
,
2012
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Abstract
For nonlinear discrete time systems satisfying a controllability condition, we present a stability condition for model predictive control without stabilizing terminal constraints or costs. The condition is given in terms of an analytical formula which can be employed in order to determine a prediction horizon length for which asymptotic stability or a performance guarantee is ensured. Based on this formula a sensitivity analysis with respect to the prediction and the possibly time varying control horizon is carried out.