%0 DATA
%A Wen-Hua, Chen
%A Xiao-Bing, Hu
%D 2008
%T Model predictive control of linear systems with nonlinear terminal control
%U https://repository.lboro.ac.uk/articles/Model_predictive_control_of_linear_systems_with_nonlinear_terminal_control/9229883
%K Model predictive control (MPC)
%K Linear matrix inequalities (LMI’s)
%K Terminal region
%K Control constraints
%X In terminal weighting based model predictive control (MPC) algorithms, the terminal
weighting term is used to cover the performance cost under the terminal control for
guaranteeing stability. Therefore, the terminal control is crucial in choosing the terminal
weighting term and also determining/estimating the stability region. However, most of
the existing MPC algorithms are developed based on linear terminal control which
restricts the achievable performance and stability of MPC. For linear systems, an MPC
algorithm with nonlinear terminal control is presented in this paper, where the gain of the
terminal control varies with the terminal state. An offline algorithm is proposed to
determine the nonlinear gains and to choose the associated terminal weighting term. It is
shown that, compared with the MPC algorithms with fixed linear terminal gain, a
nonlinear terminal control results in a much larger stability region, which is confirmed by
a numerical example.