Analysis of EMPC Schemes Without Terminal Constraints via Local Incremental Stabilizability

Christian Fiedler, Sebastian Trimpe

Abstract: Economic model predictive control (EMPC) is a popular control methodology that enjoys attention both from practitioners as well as the control research community. Of particular interest are EMPC schemes without terminal constraints in the underlying optimal control problems, and a considerable amount of theoretical analyses are already available. In this work, we derive many of these results using the notion of local incremental stabilizability, a concept that proved to be important in robust model predictive control. We show that this notion can be seamlessly used in the analysis of EMPC, and also derive new continuity results, replacing a corresponding assumption in existing works.