• This is a journal article. It was published in the journal, IEE proceedings: control theory and applications and is subject to Institution of Engineering The stability condition presented in this paper enables the "fictitious" terminal control to be nonlinear, rather than only linear, and thus the stability region is greatly enlarged. Furthermore it is pointed out that nominal stability is still guaranteed even though the global, or even the local, minimisation of the objective cost is not achieved within the prescribed computational time.Keywords: Nonlinear systems, generalised predictive control, computational delay, optimisation, stability, constrained control online optimisation problem:subject to system dynamics,andfor τ ∈ [0, δ] where δ denotes the sampling time interval, R > 0, Q > 0 or Q ≥ 0 and non-zero x is detectable in the performance index and P > 0Fact 1: The constraint (3) is convex if the matrix P satisfies (4).
Submitted to IEE Part D: Control Theory and Applications
3The constraint (3) can be written as