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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