Ensuring Stability in Networked Systems with Nonlinear MPC for Continuous Time Systems

摘要

For networked systems, the control law is typically subject to network flawssuch as delays and packet dropouts. Hence, the time in between updates of thecontrol law varies unexpectedly. Here, we present a stability theorem fornonlinear model predictive control with varying control horizon in a continuoustime setting without stabilizing terminal constraints or costs. It turns outthat stability can be concluded under the same conditions as for a (short)fixed control horizon.