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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
Version:
Accepted manuscript

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Publisher copy:
10.1109/ECC.2016.7810382

Authors


Schulze Darup, M More by this author
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Institution:
University of Oxford
Department:
Oxford, MPLS, Engineering Science
Publisher:
Institute of Electrical and Electronics Engineers Publisher's website
Publication date:
2017-01-09
Acceptance date:
2016-02-29
DOI:
EISBN:
978-1-5090-2591-6
URN:
uuid:aa803605-a55b-4f87-b1ba-6fa38e8aad36
Source identifiers:
629614
Local pid:
pubs:629614
ISBN:
978-1-5090-2592-3
Keywords:

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