On the terminal region of model predictive control for non-linear systems with input/state constraints

This paper addresses the terminal region of Model-Based Predictive Control (MPC) for nonlinear systems with control input and state constraints. Based on a stability condition of nonlinear MPC, a method to determine the terminal weighting term in the performance index and the terminal stabilising control law to enlarge the terminal region and thus the domain of attraction of the nonlinear MPC is proposed. An LMI based optimisation approach is developed to choose the terminal weighting item and fictitious terminal stabilising control law so as to enlarge the terminal region of the nonlinear MPC method. The proposed method is illustrated by a numerical example and compares favourably with existing results.