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Stability of model predictive control can be achieved by adding a terminal weighting term in a performance index and the feasibility/stability region largely depends on the choice of the terminal weighting term and associated terminal control laws. For constrained linear systems, a new method to estimate feasibility/stability regions directly, which is different from existing methods where the stability region is estimated by its terminal region, is proposed using a new representation of the behaviour of the MPC (model predictive control). A design procedure is then developed to determine the terminal term such that the feasibility/stability region of MPC algorithms is as large as possible. Examples show that the stability region is greatly enlarged

Maximisation of feasibility/stability regions of model predictive control for constrained linear systems