Continuous Time Nonlinear Controller Design with Increased Terminal Region

Various controllers such as linear quadratic regulator, sliding mode control, model predictive control, exist in the literature. Out of these controllers, Nonlinear Model Predictive Control is one of the most widely used controller. Concepts of terminal penalty term and region are used to ensure asymptotic stability of the controller. Current work presents an arbitrary controller-based approach for terminal region characterization for the continuous time nonlinear model predictive control formulations which provide large degrees of freedom as additive matrices. Effectiveness of the approach is demonstrated using a second order mathematical complex example. In the case study, terminal region obtained using the arbitrary controller-based approach is found to be approximately 2.32 times larger by area when compared to the approach from the literature. This results some infeasible initial conditions using approach from literature to become feasible using the proposed approach.