On the robustness of receding-horizon control with terminal constraints

Robustness properties of nonlinear receding-horizon controllers with zero terminal state constraints are investigated with respect to gain and additive perturbations. Some robustness margins are derived by extending to the receding-horizon case the analysis originally proposed by Geromel and da Cruz for infinite-horizon controllers. In the linear case, it is shown that the zero terminal state receding-horizon controller exhibits worse robustness margins compared to standard infinite-horizon LQ control.