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摘要
The stability of suboptimal model predictive control (MPC) without terminal constraints is investigated for continuous-time nonlinear systems under input constraints. Exponential stability and decay of the optimization error are guaranteed if the number of optimization steps in each sampling instant satisfies a lower bound that depends on the convergence ratio of the underlying optimization algorithm. The decay of the optimization error shows the incremental improvement of the suboptimal MPC scheme.
- 出版日期2010-11
