Departmental Papers (ESE)


This paper deals with unconstrained receding horizon control of nonlinear systems with a general, non-negative terminal cost. Earlier results have indicated that when the terminal cost is a suitable local control Lyapunov function, the receding horizon scheme is stabilizing for any horizon length. In a recent paper, the authors show that there always exist a uniform horizon length which guarantees stability of the receding horizon scheme over any sub-level set of the finite horizon cost when the terminal cost is identically zero. In this paper, we extend this result to the case where the terminal cost is a general non-negative function.

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Conference Paper

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Date of this Version



Copyright 2001 IEEE. Reprinted from Proceedings of the 40th IEEE Conference on Decision and Control 2001, Volume 5, pages 4826-4831.
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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.


nonlinear control systems, predictive control, stability, general terminal cost, model predictive control, nonlinear systems, optimal control, unconstrained receding horizon control, uniform horizon length



Date Posted: 30 April 2005