Abstract
This paper defends the use of a terminal cost and an explicit or implicit terminal constraint for ensuring the stability of model predictive control systems. Existing methods for ensuring stability are briefly reviewed. The necessity of a terminal constraint to satisfy certain design requirements is established. The advantages and disadvantages of employing terminal stabilising conditions are discussed.
Acknowledgements
The author would like to thank Professor J.B. Rawlings for many helpful discussions.
Notes
1. The constraint is infinite dimensional
2. Yu’s proof requires some revision