Generalized Stabilizing Conditions for Model Predictive Control
针对线性与非线性约束模型预测控制，提出简单方法处理任意指定集合内的平衡点跟踪问题，扩大吸引域。
This note addresses the tracking problem for model predictive control. It presents simple procedures for both linear and nonlinear constrained model predictive control when the desired equilibrium state is any point in a specified set. The resultant region of attraction is the union of the regions of attraction for each equilibrium state in the specified set and is therefore larger than that obtained when conventional model predictive control is employed.