Robust Economic Model Predictive Control without Terminal Conditions

• DOI: 10.48550/arxiv.1911.12235
• Publication Date: 2019-01-01
• Authors: Lukas Schwenkel; Johannes Köhler; Matthias A. Müller; Frank Allgöwer
• Keywords: Model Predictive Control

In this paper, a novel tube-based economic Model Predictive Control (MPC) scheme for uncertain systems that uses neither terminal costs nor constraints is investigated. We show the results from undisturbed case can be extended to with bounded disturbances by using similar turnpike arguments and properly modified stage cost. prove robust guarantees on closed-loop performance, convergence, stability under suitable dissipativity controllability conditions discuss them in numerical example.