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Motivated by using appropriate control Lyapunov function (CLF) as a terminal cost in stabilising receding horizon control of non-linear delay-free systems, the authors propose a predictive control scheme with guaranteed closed-loop stability for non-linear time-delay systems utilising control Lyapunov-Krasovskii functional (CLKF). In this approach, stability can be attained without imposing any terminal constraints. The absence of additional constraints results in a significant speedup in computation. Illustrative example shows the effectiveness of the method.
Date of Publication: October 2009