In this paper we are concerned with estimates of the prediction horizon length in nonlinear model predictive control (MPC) without terminal constraints or costs for systems governed by ordinary differential equations. A growth bound — which is known to be the crucial condition in order to determine a horizon length for which asymptotic stability or a desired performance of the MPC closed loop i...

In sampled data systems the controller receives periodically sampled state feedback about the evolution of a continuous time plant, and must choose a constant control signal to apply between these updates; however, unlike purely discrete time models the evolution of the plant between updates is important. In this paper we describe an abstract algorithm for approximating the discriminating kerne...

Controller design for nonlinear systems with Control Lyapunov Function (CLF) based quadratic programs has recently been successfully applied to a diverse set of difficult control tasks. These existing formulations do not address the gap between continuous time models and discrete sampled implementation resulting controllers, often leading poor performance on hardware platforms. We propose an ap...