Nonlinear model predictive control. Theory and algorithms (Q2374261)

The book provides a comprehensive and thorough introduction to model predictive control of nonlinear discrete-time control systems. This not only includes an overview of the historical development, the main idea and multiple variants of model predictive and receeding horizon control, but also a very detailed discussion about several stability concepts of discrete-time systems which play an important role for inifinite-horizon optimization problems. In addition to its main focus, the book also provides introductory material on numerical discretization of ordinary differential equations and nonlinear optimization. The last chapters moreover discuss the numerical implementation for a variety of different examples, including pseudocode as well as references to code available online. In comparison to the first edition of this book, the second edition contains new chapters on more recent topics such as economic model predictive control as well as distributed model predictive control. In this context, the concepts of averaged optimality, transient optimality, turnpike and more are discussed. The book is self-contained and its excellent presentation can be highly recommended for students but also researchers new to the topic of model predictive control.