Departmental Papers (ESE)


It is well known that exponentially unstable linear systems can not be globally stabilized in the presence of input constraints. In the case where the linear system is neutrally stable, one can achieve global asymptotic stability using a particular control Lyapunov function (CLF)-based controller. Using this particular CLF as terminal cost in a receding horizon scheme, we obtain a receding horizon controller which globally stabilizes such systems. Contrary to previous results, the horizon length is fixed, and can be chosen arbitrarily. The resulting controller also outperforms the CLF controller, since it provides a lower cost as measured by a quadratic performance index.

Document Type

Conference Paper

Subject Area


Date of this Version

December 2002


Copyright 2002 IEEE. Reprinted from Proceedings of the 41st IEEE Conference on Decision and Control 2002, Volume 1, pages 1096-1100.

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NOTE: At the time of publication, author Ali Jadbabaie was affiliated with Yale University. Currently (March 2005), he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.



Date Posted: 30 April 2005