“…Figure 8 plots regions of attraction obtained for the Yu et al's approach,
28 proposed arbitrary controller based approach and proposed LQR based approach along with null controllable region for a prediction horizon length of
. Null controllable region is the set of all initial conditions that is, states which can be stabilized subject to constraints
35,38 . Although null controllable region is computed for an infinite horizon formulation, in order to compare a finite horizon NMPC, identical prediction horizon is chosen.…”