Stability properties of the adaptive horizon multi-stage MPC

This paper presents an adaptive horizon multi-stage model-predictive control (MPC) algorithm. It establishes appropriate criteria for recursive feasibility and robust stability using the theory of input-to-state practical (ISpS). The proposed algorithm employs parametric nonlinear programming (NLP) sensitivity terminal ingredients to determine minimum stabilizing prediction all scenarios considered in subsequent iterations MPC. technique notably decreases computational cost systems with uncertainty, as they involve solving large complex optimization problems. efficacy controller is illustrated three numerical examples that illustrate a reduction delay