Abstract

In this paper, we study the system theoretic properties of a reference tracking Model Predictive Control (MPC) scheme for general reference signals and nonlinear discrete-time systems subject to input and state constraints. Contrary to other existing theoretical results for reference tracking MPC, we do not modify the optimization problem with artificial references or terminal ingredients. Instead, we consider a simple, intuitive, implementation and derive theoretical guarantees under a sta- bilizability property of the system and a reachability condition on the reference trajectory. We provide sufficient conditions for exponential reference tracking and analyze the region of attraction.

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