Work

Model predictive control with λ –contractive terminal sets

Year: 2026

Type: article

Abstract: This article presents a novel model predictive control formulation for discrete-time linear systems subject to polyhedral state and control constraints. The proposed model predictive control replaces the fixed, time-invariant terminal set of standard model predictive control with a time-varying strategy: it initiates with a –contractive set, shrinks by a factor at each time step, and then transitions to a conventional positively invariant terminal set based on a strategically designed switching condition. The proposed model predictive control also guarantees sequential positive invariance and uniform exponential stability properties of the controlled dynamics, while potentially achieving infinite horizon optimality. Most importantly, the resulting domain of attraction is significantly larger than that achieved by standard model predictive control.

Source: Automatica

DOI: 10.1016/j.automatica.2026.112970

Authors: Kai Wang, Jinhao Liu, Yunda Yan, Wen-Hua Chen

Institutions: Loughborough University, China University of Mining and Technology, University College London, Hong Kong Polytechnic University

Language: English

Topic: Advanced Control Systems Optimization

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,760

Funders: National University's Basic Research Foundation of China, Engineering and Physical Sciences Research Council, Fundamental Research Funds for the Central Universities