Grüne, L.; von Lossow, M.; Pannek, J.; Worthmann K.:
MPC: implications of a growth condition on exponentially controllable systems.
Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, S. 385–390, 2010.


We analyze stability and performance of unconstrained nonlinear model predictive control schemes. To this end, we introduce a growth condition which significantly improves known stability and performance estimates for exponentially controllable systems. Moreover, we present sufficient and easily checkable conditions implying the validity of this condition.