General Quasi-infinite Horizon Nonlinear Model Predictive Control
广义准无限时域非线性预测控制

This paper generalizes the quasi infinite horizon nonlinear MPC scheme in a more useful form. Conditions for the closed loop stability of constrained nonlinear systems and for the existence of an optimal solution are presented. Based on feedback linearization, implementation issues of the control scheme including the determination of larger terminal regions are discussed. Computation time for on line optimization can be reduced significantly.