2000 | OriginalPaper | Buchkapitel
Stability and Robustness of Nonlinear Receding Horizon Control
verfasst von : G. De Nicolao, L. Magni, R. Scattolini
Erschienen in: Nonlinear Model Predictive Control
Verlag: Birkhäuser Basel
Enthalten in: Professional Book Archive
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The main design strategies for ensuring stability and robustness of nonlinear RH (Receding-Horizon) control systems are critically surveyed. In particular, the following algorithms with guaranteed closed-loop stability of the equilibrium are considered: the zero-state terminal constraint, the dual-mode RH controller, the infinite-horizon closed-loop costing, the quasi-infinite method, and the contractive constraint. For each algorithm, we analyse and compare feasibility, performance, and implementation issues. For what concerns robustness analysis and design, we consider: monotonicity-based robustness, inverse optimality robustness margins, nonlinear H∞RH design, and a new nonlinear RH design with local H∞ recovery.