Regional input-to-state stability of min-max model predictive control

D.M. Raimondo, D. Limon, M. Lazar, L. Magni, E.F. Camacho

Research output: Contribution to journalConference articlepeer-review

2 Citations (Scopus)


The objective of this paper is, on the base of existing results, to provide a general framework for synthesizing min-max MPC schemes with an a priori robust stability guarantee for nonlinear constrained systems. Using regional input-to-state stability, it is proven that the standard min-max approach can only guarantee practical stability. This is due to the choice of the stage cost. In order to avoid this problem, two different solutions have been considered: the first one is based on a particular design of the stage cost of the performance index, while the second one is based on a dual-mode strategy. It is shown that under fairly mild assumptions both controllers guarantee input-to-state stability.

Original languageEnglish
Pages (from-to)42-47
Number of pages6
JournalIFAC Proceedings Volumes
Issue number12
Publication statusPublished - 2007
Eventconference; 7th IFAC Symposium on Nonlinear Control Systems; 2007-08-22; 2007-08-24 -
Duration: 22 Aug 200724 Aug 2007


  • Input-to-state stability
  • Nonlinear model predictive control
  • Robust control


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