A terminal state contractive nonlinear MPC with output zones and input targets

Aplicabilidade e performance de estratégias estabilizantes para controladores preditivos baseados em modelo não-linear.

“…This can be used to either minimize or maximize input values, or to keep inputs closest to an optimal target. Integration of terminal equality constraints and zone control has their recursive feasibility and asymptotic stability demonstrated, respectively, in Lemma 1 and Theorem 1 of Sencio et al (2020). The optimization problem that integrates a terminal equality constraint formulation and zone control with optimizing targets is given by Problem P 6 .…”

“…Xie & Fierro (2008) implement a first-state contracting constraint which enforces contraction of the first state of the prediction horizon, yielding a much stricter controller. Sencio et al (2020) propose a contraction of the error of the last state prediction with respect to the last final state prediction of the previous sampling time. The latter formulation is represented by Problem P 9 .…”