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On the robustness of receding-horizon control with terminal constraints

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3 Author(s)
de Nicolao, G. ; Dipartimento di Inf. e Sistemistica, Pavia Univ., Italy ; Magni, L. ; Scattolini, R.

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

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Automatic Control, IEEE Transactions on  (Volume:41 ,  Issue: 3 )