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- W4286897996 abstract "We provide a stability and performance analysis for nonlinear model predictive control (NMPC) schemes subject to input constraints. Given an exponential stabilizability and detectability condition w.r.t. the employed state cost, we provide a sufficiently long prediction horizon to ensure asymptotic stability and a desired performance bound w.r.t. the infinite-horizon optimal controller. Compared to existing results, the provided analysis is applicable to positive semi-definite (detectable) cost functions, provides tight bounds using a linear programming analysis, and allows for a seamless integration of general positive-definite terminal cost functions in the analysis. The practical applicability of the derived theoretical results are demonstrated with numerical examples." @default.
- W4286897996 created "2022-07-25" @default.
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- W4286897996 date "2021-10-21" @default.
- W4286897996 modified "2023-10-17" @default.
- W4286897996 title "Stability and performance analysis of NMPC: Detectable stage costs and general terminal costs" @default.
- W4286897996 doi "https://doi.org/10.48550/arxiv.2110.11021" @default.
- W4286897996 hasPublicationYear "2021" @default.
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