Abstract

Motivated by the passivity-based nonlinear model predictive control approach (NMPC) in [8], a more general stabilizing NMPC strategy based on passivity and dissipativity is proposed in this paper. We consider model discrepancies and show that the supply rate of the nominal model is always in excess of that of the real system under certain parameter conditions. The stabilizing NMPC scheme proposed for the nominal model also guarantees the stability for the real dynamic system. Compared to the time-triggered NMPC scheme, we further explore the event-triggered NMPC scheme, which can preserve dissipativity under discretization. The L2 stability of the system plant is guaranteed with the provided conditions.

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