Exponential stability of data-driven nonlinear MPC based on input/output models¶
Authors: Lea Bold, Irene Schimperna, Karl Worthmann, Johannes Köhler
Published: 2026 ()
arXiv: 2603.16808
Summary¶
Abstract¶
We consider nonlinear model predictive control (MPC) schemes using surrogate models in the optimization step based on input-output data only. We establish exponential stability for sufficiently long prediction horizons assuming exponential stabilizability and a proportional error bound. Moreover, we verify the imposed condition on the approximation using kernel interpolation and demonstrate the practical applicability to nonlinear systems with a numerical example.