Alessandretti, A; Aguiar, AP; Jones, CN
ID Authenticus: P-00M-DYJ
Abstract: This paper addresses the design of a suitable terminal set and terminal cost for discrete-time Economic Model Predictive Control schemes with convergence guarantees. Three design methods are proposed. The first two approaches rely on the existence of a (possibly nonlinear) auxiliary control law that stabilizes the origin of the error space defined by the distance to an economically optimal state-input trajectory pair. The first method exploits a given bound on the stage cost evaluated along the closed-loop system with the auxiliary control law. If such a bound is not available, but the auxiliary control law stabilizes the origin of the error space exponentially fast, then a second method is proposed. The last method addresses the case where the auxiliary control law is not available, but the linearization of the system around the desired economically optimal trajectory is stabilizable. Depending on the selection of the auxiliary law, the proposed method allows the design of closed-loop systems with a possibly global region of attraction even in the case of nonlinear constrained systems. An example is used to illustrate the properties of the proposed methods.