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Exponential Stability of Data-driven Nonlinear MPC Based on Input/output Models

Authors
Lea Bold, Irene Schimperna, Karl Worthmann, Johannes Kohler
Year
2026
Preprint
Source
arXiv
Identifiers
arXiv 2603.16808

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.

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Tags

Model predictive control Predictive control Stability analysis Online algorithms Optimization Control Nonlinear systems Exponential stability

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