The advanced-step NMPC controller: Optimality, stability and robustness.

Victor M. Zavala Lorenz T. Biegler

Published in: Autom. (2009)

Keyphrases

lyapunov function
control system
receding horizon
dynamic model
nonlinear model predictive control
adaptive control
takagi sugeno
control algorithm
stability analysis
walking speed
dynamic programming
closed loop
control method
control scheme
nonlinear systems
adaptive neural