MODEL PREDICTIVE CONTROL, COST CONTROLLABILITY, AND HOMOGENEITY

We are concerned with the design of Model Predictive Control (MPC) schemes such that asymptotic stability of the resulting closed loop is guaranteed-even if the linearization at the desired set point fails to be stabilizable. Therefore, we propose constructing the stage cost based on the homogeneous approximation and rigorously show that applying MPC yields an asymptotically stable closed-loop behavior if the homogeneous approximation is asymptotically null controllable. To this end, we verify cost controllability-a condition relating the current state, the stage cost, and the growth of the value function with respect to time for this class of systems in order to provide stability and performance guarantees for the proposed MPC scheme without stabilizing terminal costs or constraints.