Robust Economic Model Predictive Control without Terminal Conditions

Abstract: In this paper, a novel tube-based economic Model Predictive Control (MPC) scheme for uncertain systems that uses neither terminal costs nor terminal constraints is investigated. We show that the results from the undisturbed case can be extended to systems with bounded disturbances by using similar turnpike arguments and a properly modified stage cost. We prove robust guarantees on the closed-loop performance, convergence, and stability under suitable dissipativity and controllability conditions and discuss them in a numerical example.