Receding horizon tracking control as a predictive control and its stability properties

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Abstract
The receding horizon tracking control for discrete time-invariant systems is presented. This control law is derived by using the receding horizon concept from the standard tracking problems. The stability property of this control law is analysed and it is shown that there exists a finite cost horizon over which the closed-loop systems are always asymptotically stable. It is pointed out that the receding horizon tracking control can be considered as a general class of predictive controls and thus the given stability property can be utilized for some existing predictive controls which have little-known stability results. It is also shown that the receding horizon tracking control with integral action provides the zero offset for a constant command input. Its performance is compared with other existing predictive controls via simulation studies.