Enhancements for contractive receding horizon control

Hoam Chung, Elijah Polak, Shankar Sastry

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We propose a new stability constraint for contractive receding horizon control (RHC), which was inspired by a non-monotone line search rule for optimization algorithms. Previously proposed stability constraints for contractive RHC can be seen as special cases of our new constraint. The new stability constraint guarantees asymptotic stability, but it does not ensure the monotone decrease of the state to zero. The non-monotone nature of our constraint is less restrictive than previous contractive constraints, and in principle, should result in a larger region of attraction (stability region). We present simulation results which show that this is in fact the case. We also present several enhancements which result in a faster system response and/or a larger stability region.

Original languageEnglish
Title of host publicationProceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Edition1 PART 1
Publication statusPublished - 1 Dec 2008
EventInternational Federation of Automatic Control World Congress 2008 - Convention and Exhibition Center, Seoul, Korea, Republic of (South)
Duration: 6 Jul 200811 Jul 2008
Conference number: 17th


ConferenceInternational Federation of Automatic Control World Congress 2008
Abbreviated titleIFAC 2008
CountryKorea, Republic of (South)
Internet address


  • Control problems under conflict and/or uncertainties
  • Nonlinear system control
  • Optimal control theory

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