Exponential stability of data-driven nonlinear MPC based on input/output models
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arXiv
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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866911719276675072 |
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| author | Bold, Lea Schimperna, Irene Worthmann, Karl Köhler, Johannes |
| author_facet | Bold, Lea Schimperna, Irene Worthmann, Karl Köhler, Johannes |
| contents | We consider nonlinear model predictive control (MPC) schemes without stabilizing terminal conditions, where the model used in the optimization step is generated based on input-output data only. We establish exponential stability for sufficiently long prediction horizons assuming exponential stabilizability and a proportional error bound. Moreover, we verify the imposed condition on the approximation using kernel interpolation and demonstrate the practical applicability to nonlinear systems by numerical simulations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_16808 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Exponential stability of data-driven nonlinear MPC based on input/output models Bold, Lea Schimperna, Irene Worthmann, Karl Köhler, Johannes Optimization and Control Systems and Control We consider nonlinear model predictive control (MPC) schemes without stabilizing terminal conditions, where the model used in the optimization step is generated based on input-output data only. We establish exponential stability for sufficiently long prediction horizons assuming exponential stabilizability and a proportional error bound. Moreover, we verify the imposed condition on the approximation using kernel interpolation and demonstrate the practical applicability to nonlinear systems by numerical simulations. |
| title | Exponential stability of data-driven nonlinear MPC based on input/output models |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2603.16808 |