Receding Horizon Tracking Control as a Predictive Control and its Stability Properties

Abstract

The receding horizon tracking control for the discrete time invariant system is presented in this paper. This control law is derived by using the receding horizon concept from the standard tracking problems. Stability properties of this control law are analyzed and it is shown that there exists a finite horizon for which the closed loop systems are always asymptotically stable. It is also shown that the receding horizon tracking control with integral action provides zero offset for a constant command input.