Appendix A4: Stabilization of Model Predictive Control of Nonlinear Time-Delayed Systems
In this appendix, stabilization of a model predictive control scheme for a class of nonlinear time-delayed systems is investigated. Model predictive control (MPC), also known as receding horizon control, has become a popular control strategy. However, a predictive controller without additional considerations does not naturally guarantee the closed-loop stability in the sense of Lyapunov. For delay-free systems, many approaches have been developed to avoid this problem. In most cases, closed-loop stability is guaranteed by using terminal state constraints and an appropriately chosen terminal cost.
In this study, based on the general framework for designing ...
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