On the terminal region of model predictive control for non-linear system with input/state constraints

This paper addresses the terminal region of model-based predictive control (MFC) for non-linear systems with control input and state constraints. Based on a stability condition of non-linear MFC, a method to determine the terminal weighting term in the performance index and the terminal stabilizing control law to enlarge the terminal region and thus the domain of attraction of the non-linear MFC is proposed. An LMI based optimization approach is developed to choose the terminal weighting item and fictitious terminal stabilizing control law so as to enlarge the terminal region of the non-linear MFC method. The proposed method is illustrated by a numerical example and compares favourably with existing results.