We analyze a time-coarsening strategy for model predictive control (MPC) that we call diffusing-horizon MPC. This seeks to overcome the computational challenges associated with optimal problems span multiple timescales. The coarsening approach uses time discretization grid becomes exponentially more sparse as one moves forward in time. design is motivated by recently established property of kno...

This paper presents an economic model predictive controller, under the assumption that only measurable signal of plant is cost to be minimized. In order forecast evolution this for a given input trajectory, prediction with NARX structure, so-called oracle, proposed. Sufficient conditions ensure existence such oracle are studied, proving it can derived general nonlinear system if function Morse ...