eprintid: 516
rev_number: 12
eprint_status: archive
userid: 7
dir: disk0/00/00/05/16
datestamp: 2011-07-27 08:39:18
lastmod: 2011-08-05 13:17:43
status_changed: 2011-07-27 08:39:18
type: book_section
metadata_visibility: show
contact_email: alberto.bemporad@imtlucca.it
item_issues_count: 0
creators_name: Lazar, Mircea
creators_name: Heemels, W.P.M.H.
creators_name: Bemporad, Alberto
creators_name: Weiland, Siep
creators_id: 
creators_id: 
creators_id: alberto.bemporad@imtlucca.it
creators_id: 
title: Discrete-time non-smooth nonlinear MPC: Stability and robustness
ispublished: pub
subjects: QA
subjects: TJ
divisions: CSA
full_text_status: none
abstract: 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. 
date: 2007
publication: Assessment and Future Directions of Nonlinear Model Predictive Control
volume: 358
publisher: Springer-Verlag
pagerange: 93-103
id_number: 10.1007/978-3-540-72699-9_7
refereed: TRUE
isbn: 978-3-540-72698-2
book_title: Assessment and Future Directions of Nonlinear Model Predictive Control
official_url: http://www.springerlink.com/content/b708642w75521623/
citation:   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)