Stability Issues in Model-Based Predictive Control with Output Constraints

Abstract

This paper re-examines one of the cases studied by Zafiriou. The problem is reduced to a SISO system, allowing the QP problem to be simplified such that the factors leading to instability become readily apparent. We show that several "tricks of the trade" used in model predictive control (MPC) can reduce the likelihood of unstable behavior, but it is impossible to guarantee stability for all possible distudxnces when the output is constained, even when there is no plant-model mismatch