relation: http://eprints.imtlucca.it/516/
title: Discrete-time non-smooth nonlinear MPC: Stability and robustness
creator: Lazar, Mircea
creator: Heemels, W.P.M.H.
creator: Bemporad, Alberto
creator: Weiland, Siep
subject: QA Mathematics
subject: TJ Mechanical engineering and machinery
description: This paper considers discrete-time nonlinear, possibly discontinuous, systems in closed-loop with model predictive controllers (MPC). The aim of the paper is to provide a priori sufficient conditions for asymptotic stability in the Lyapunov sense and input-to-state stability (ISS), while allowing for both the system dynamics and the value function of the MPC cost to be discontinuous functions of the state. The motivation for this work lies in the recent development of MPC for hybrid systems, which are inherently discontinuous and nonlinear. For a particular class of discontinuous piecewise affine systems, a new MPC set-up based on infinity norms is proposed, which is proven to be ISS to bounded additive disturbances. This ISS result does not require continuity of the system dynamics nor of the MPC value function. 
publisher: Springer-Verlag
date: 2007
type: Book Section
type: PeerReviewed
identifier:   Lazar, Mircea and Heemels, W.P.M.H. and Bemporad, Alberto and Weiland, Siep  Discrete-time non-smooth nonlinear MPC: Stability and robustness.   In:  Assessment and Future Directions of Nonlinear Model Predictive Control.   Springer-Verlag, pp. 93-103.  ISBN 978-3-540-72698-2      (2007)  
relation: http://www.springerlink.com/content/b708642w75521623/
relation: 10.1007/978-3-540-72699-9_7