Variants and Extensions

Abstract

The results developed so far in this book can be extended in many ways. In this chapter, we present a selection of possible variants and extensions. Some of these introduce new combinations of techniques developed in the previous chapters, others relax some of the previous assumptions in order to obtain more general results or strengthen assumptions in order to derive stronger results. In order to make the presentation concise, we limit ourselves to stabilizing NMPC as presented in Chaps. 5 and 6. Several sections contain algorithmic ideas which can be added on top of the basic NMPC schemes from the previous chapters. Parts of this chapter contain results which are somewhat preliminary and are thus subject to further research. Some sections have a survey-like style and, in contrast to the other chapters of this book, proofs are occasionally only sketched with appropriate references to the literature.