Titlebook: Nonlinear Model Predictive Control; Theory and Algorithm Lars Grüne,Jürgen Pannek Book 2017Latest edition Springer International Publishing

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Economic NMPC,mance of economic MPC. In this chapter, we will rigorously establish stability as well as averaged and non-averaged performance estimates for strictly dissipative economic MPC problems, both with and without terminal conditions.

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Numerical Discretization,ep size control algorithms. Furthermore,we explain how these methods can be integrated into NMPC algorithms, investigate how the numerical errors affect the stability of the NMPC controller derived from the numerical model and show which kind of robustness is needed in order to ensure a practical kind of stability.

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Book 2017Latest edition NMPC schemes with and without stabilizing terminal constraints are detailed, and intuitive examples illustrate the performance of different NMPC variants. NMPC is interpreted as an approximation of infinite-horizon optimal control so that important properties like closed-loop stability, inverse opt

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Stability and Suboptimality Using Stabilizing Terminal Conditions,city” of the finite time optimal value functions is proved and used in order to apply the relaxed dynamic programming framework introduced in the previous chapter. Using this framework, stability, suboptimality (i.e., estimates about the infinite horizon performance of the NMPC closed-loop system), and inverse optimality results are proved.

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