Minkowski terminal cost functions for MPC

S.V. Rakovic, M. Lazar

Research output: Contribution to journalArticleAcademicpeer-review

13 Citations (Scopus)
1 Downloads (Pure)


This technical communique delivers a systematic procedure for obtaining a suitable terminal cost function for model predictive control based on Minkowski cost functions. It is shown that, for any given stabilizing linear state feedback control law and associated ¿-contractive proper C-set, there always exists a non-trivial scaling of the ¿-contractive proper C-set such that the associated Minkowski function satisfies the standard MPC terminal cost stability inequality.
Original languageEnglish
Pages (from-to)2721-2725
Issue number10
Publication statusPublished - 2012


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