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Stability-constrained model predictive control

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2 Author(s)
Xu Cheng ; Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Krogh, B.H.

This paper presents a new approach to guaranteeing stability of model predictive control (MPC). A stability constraint is computed and propagated forward at each stage as a constraint on the magnitude of the predicted state vector for a state-space controllable-form realization. It is shown that asymptotic stability is guaranteed for the case of constrained multi-input linear time-invariant systems under full-state measurement or with state estimation for any prediction horizon and any optimization objective function

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Automatic Control, IEEE Transactions on  (Volume:46 ,  Issue: 11 )