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Some observations on the activity of terminal constraints in linear MPC

Abstract:
We analyze the activity of terminal constraints in stabilizing MPC for linear systems with state and input constraints. In particular, we show that the set of initial states for which the terminal constraints are inactive (or weakly active), is always compact but may or may not be convex. In addition, we illustrate that the set where terminal constraints are (strongly) active may be nonempty, even for arbitrarily long prediction horizons. This observation is important for the design of stabilizing MPC schemes without terminal constraints.
Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.1109/ECC.2016.7810382

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Institution:
University of Oxford
Division:
MPLS
Department:
Engineering Science
Role:
Author
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Journal:
Proceedings of the 2016 European Control Conference Journal website
Host title:
Proceedings of the 2016 European Control Conference
Publication date:
2017-01-09
Acceptance date:
2016-02-29
DOI:
Source identifiers:
629614
ISBN:
9781509025923
Keywords:
Pubs id:
pubs:629614
UUID:
uuid:aa803605-a55b-4f87-b1ba-6fa38e8aad36
Local pid:
pubs:629614
Deposit date:
2016-06-24

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