Finite-Time Stabilization for Constrained Discrete-time Systems by Using Model Predictive Control

Abstract

In this paper, a model predictive control (MPC) framework is proposed for finite-time stabilization of linear and nonlinear discrete-time systems subject to state and control constraints. The proposed MPC framework guarantees the finite-time convergence property by assigning the control horizon equal to the dimension of the overall system, and only penalizing the terminal cost in the optimization, where the stage costs are not penalized explicitly. A terminal inequality constraint is added to guarantee the feasibility and stability of the closed-loop system. Initial feasibility can be improved via augmentation. The finite-time convergence of the proposed MPC is proved theoretically, and is supported by simulation examples.