5 papers
Exponential stability of data-driven nonlinear MPC based on input/output models
Lea Bold, Irene Schimperna, Karl Worthmann +1
We consider nonlinear model predictive control (MPC) schemes without stabilizing terminal conditions, where the model used in the optimization step is generated based on input-outp…
Stability of data-driven Koopman MPC with terminal conditions
Irene Schimperna, Lea Bold, Johannes Köhler +2
This paper derives conditions under which Model Predictive Control (MPC) with terminal conditions, using a data-driven surrogate model as a prediction model, asymptotically stabili…
Data-driven Model Predictive Control: Asymptotic Stability despite Approximation Errors exemplified in the Koopman framework
Irene Schimperna, Karl Worthmann, Manuel Schaller +2
In this paper, we analyze stability of nonlinear model predictive control (MPC) using data-driven surrogate models in the optimization step. First, we establish asymptotic stabilit…
Offset-free Nonlinear MPC with Koopman-based Surrogate Models
Irene Schimperna, Lea Bold, Karl Worthmann
In this paper, we design offset-free nonlinear Model Predictive Control (MPC) for surrogate models based on Extended Dynamic Mode Decomposition (EDMD). The model used for predictio…
Kernel EDMD for data-driven nonlinear Koopman MPC with stability guarantees
Lea Bold, Manuel Schaller, Irene Schimperna +1
Extended dynamic mode decomposition (EDMD) is a popular data-driven method to predict the action of the Koopman operator, i.e., the evolution of an observable function along the fl…