Dual-receding horizon control of constrained discrete time systems (Q1352537)

A dual receding horizon control (DRHC), originally developed for continuous systems, is extended to the linear and nonlinear discrete-time systems with hard input and state constraints. The DRHC with deadzone acts as a linear constant controller inside a suitable neighborhood of the equilibrium and as receding horizon controller outside of it. The introduction of a deadzone in the performance index has made it possible to define a DRHC, possessing a guaranteed stability property even for fixed control horizon and unstable plants. It is shown that the approach is less sensitive to disturbances and modelling errors than classical receding horizon control approaches.