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For the sake of enlarging the domain of attraction of model predictive control (MPC), a novel method of computing a large terminal region was proposed. Given the terminal cost, a subset sequence of the maximal terminal region was constructed by employing one-step set expansion iteratively. It was proved that, when the iteration time goes to infinity, this subsets sequence will converge to the maximal terminal region. Each subset in the sequence was extracted from the state space by exploiting support vector machine classifier.
Date of Publication: March 1 2012