Abstract
Ensuring nominal stability of nonlinear model predictive control is not trivial. Current work presents application of two approaches for the terminal region characterization of discrete time quasi infinite horizon nonlinear model predictive control around an open loop unstable operating point. Case study presented is on a benchmark continuous stirrer tank reactor system. Results are presented for the nominal case (i.e. without noise case) and for the robust case (i.e. with noise case). Results validate the nominal asymptotic stability result of the discrete time quasi infinite horizon nonlinear model predictive control formulation. State trajectories for the robust case are close to the nominal case as expected due to the bounded disturbance.
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