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

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.

*H. Michalska*

*Annual Report*

*Mon Jun 26 21:22:20 GMT 2000*