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

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Infinite Horizon Optimal Control,es of this principle are proved. One of the main results of this chapter is that the infinite horizon optimal feedback law asymptotically stabilizes the system and that the infinite horizon optimal value function is a Lyapunov function for the closed-loop system. Motivated by this property we formul

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Stability and Suboptimality Using Stabilizing Terminal Conditions,constraints as well as regional constraints plus Lyapunov function terminal cost are covered. We show that viability of the state constraint set can be replaced by viability of the terminal constraint set in order to ensure admissibility of the resulting NMPC-feedback law. The “reversing of monotoni

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Stability and Suboptimality Without Stabilizing Terminal Conditions,ing the setting and presenting motivating examples, we introduce a boundedness condition on the optimal value function and an asymptotic controllability assumption. Moreover, we give a detailed derivation of stability and performance estimates based on these assumptions and the relaxed dynamic progr

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Economic NMPC, equilibrium, which was one of the key assumptions in Chaps. . and .. Instead, the cost can, in principle, model all kinds of quantities, like energy consumption, yield of a substance, income of a firm, etc., which one would like to minimize or maximize. In such a general setting, it is by no means

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Numerical Discretization,thin the NMPC algorithm numerically. We present suitable methods, discuss the convergence theory for one step methods and give an introduction into step size control algorithms. Furthermore,we explain how these methods can be integrated into NMPC algorithms, investigate how the numerical errors affe

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