A SUFFICIENT CONDITION FOR LQR TO STABILIZE SYSTEMS AND ITS APPLICATION TO PREDICTIVE CONTROL
一种线性二次型调节器闭环稳定的充分条件及在预测控制中的应用

This paper proposes a free final state Kleinman LQR and a sufficient condition to ensure the close loop stability with the regulator. By applying the result to the stability analysis of predictive control, a quantitative criterion is obtained to choose the weighting matrices in the cost function.