Stable MPC with maximal terminal sets and quadratic terminal costs
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866910472590065664 |
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| author | Johansson, Mikael Taghavian, Hamed |
| author_facet | Johansson, Mikael Taghavian, Hamed |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_02760 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Stable MPC with maximal terminal sets and quadratic terminal costs Johansson, Mikael Taghavian, Hamed Optimization and Control Systems and Control 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. |
| title | Stable MPC with maximal terminal sets and quadratic terminal costs |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2406.02760 |