Daniël Veldman, Enrique Zuazua. Local Stability and Convergence of Unconstrained Model Predictive Control (2022)
Abstract. The local stability and convergence for Model Predictive Control (MPC) of unconstrained nonlinear dynamics based on a linear time-invariant plant model is studied. Based on the long-time behavior of the solution of the Riccati Differential Equation (RDE), explicit error estimates are derived that clearly demonstrate the influence of the two critical parameters in MPC: the prediction horizon T and the control horizon \tau. In particular, if the MPC-controller has access to an exact (linear) plant model, the MPC-controls and the corresponding optimal state trajectories converge exponentially to the solution of an infinite-horizon optimal control problem when T-\tau \rightarrow \infty. When the difference between the linear model and the nonlinear plant is sufficiently small in a neighborhood of the origin, the MPC strategy is locally stabilizing and the influence of modeling errors can be reduced by choosing the control horizon $\tau$ smaller. The obtained convergence rates are validated in numerical simulations.