Publication record · 18.cifr/2000.mayne.constrained-mpc-stability
18.cifr/2000.mayne.constrained-mpc-stabilityThe paper provides a comprehensive and unified overview of recent theoretical developments in constrained model predictive control (MPC). The main stability and optimality results for constrained MPC are presented; these include both the regulator and tracking problems. The relationship between infinite horizon and finite horizon formulations is examined and conditions under which these are equivalent are derived. It is shown that a terminal constraint set and terminal cost are sufficient conditions for stability, and that these conditions subsume most existing stability results in the literature.
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Output-feedback MPC with state estimation remains an open problem since the nominal stability results do not transfer directly when the full state is unavailable. Robust MPC under bounded disturbances requires separate treatment. Computational tractability for large-scale systems is an ongoing challenge.