Abstract
In this paper, we develop a tube-based economic MPC framework for nonlinear systems subject to unknown but bounded disturbances. We show that just transferring the design procedure of tube-based stabilizing MPC to an economic MPC framework might not be the optimal choice in terms of the achievable asymptotic average performance. Instead, the asymptotic average performance can possibly be improved by considering the influence of the disturbance explicitly within the design of the control input. This will be done by using a specifically defined integral stage cost, which is the key feature of our proposed robust economic MPC algorithm. Furthermore, we show that for this algorithm, similar results as in nominal economic MPC (i.e., without disturbances) can be established, in particular with respect to bounds on the asymptotic average performance of the resulting closed-loop system as well as stability.
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