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Horizon Control of
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Moving Horizon Control Without
Constraint on the Terminal State

*H. Michalska*
Previous moving horizon controllers were based on the solution of a
family of open-loop optimal control problems with an equality constraint
on the terminal state (the state of the system at the end of the optimization
horizon was required to be zero). A new class of moving horizon controllers
is investigated which does not require the satisfaction of this constraint.
It is important for applications since optimal control problems with equality
constraints are hard to solve.

*Annual Report*

*Fri Nov 26 23:00:32 GMT 1999*