Grüne, L; Pannek, J.:
Analysis of unconstrained NMPC schemes with incomplete optimization.
Proceedingsof the 8th IFAC Symposium on Nonlinear Control Systems, S. 238–243, 2010.


We analyze nominal NMPC schemes without stabilizing terminal constraints in which the online optimization is terminated prior to convergence to the optimum. We state a new stability based termination criterion for nonlinear optimization methods and give conditions for stability and performance estimates. Additionally we present a numerical simulation to illustrate our results.