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Abstract: For discrete time nonlinear systems satisfying an exponential or finite timecontrollability assumption, we present an analytical formula for asuboptimality estimate for model predictive control schemes without stabilizingterminal constraints. Based on our formula, we perform a detailed analysis ofthe impact of the optimization horizon and the possibly time varying controlhorizon on stability and performance of the closed loop.



Author: Lars Grüne, Jürgen Pannek, Martin Seehafer, Karl Worthmann

Source: https://arxiv.org/



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