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A Finite-Gain Stability Approach to NMPC Design: the Exte...
[Submitted on 17 Jun 2026] · 2026-06-18 · via cs updates on arXiv.org

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Abstract:This paper proposes a novel approach to design of Nonlinear Model Predictive Control (NMPC) schemes based on Finite-Gain Stability (FGS) concepts. The proposed formulation considers the case where the plant is affected by unknown but bounded disturbances, which renders difficult the classical Lyapunov-based analysis/design. Based on FGS conditions for a closed-loop system, we develop a systematic NMPC design methodology, allowing us to choose the relevant NMPC parameters that lead to closed-loop FGS and provide a satisfactory tracking performance, also for the case of time-varying reference signals. A simulated example is presented to demonstrate the effectiveness of our framework, concerned with lateral/longitudinal control of an automated vehicle.

Submission history

From: Michele Pagone [view email]
[v1] Wed, 17 Jun 2026 09:43:59 UTC (853 KB)