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In this paper, it is shown that a simple formulation of Economic ModelPredictive Control can be used which possesses two features that are generallyviewed as mutually exclusive, namely, a rather short prediction horizon(reachability-compatible) on one side, and the absence of final constraint onthe other side. The result holds for discrete-time models that are originatedfrom continuous-time models by means of discretization. Practical stability ata small neighborhood of the optimal unknown steady-state pair is shown whensome parameters increase and sampling time decreases. A commonly used exampleis given to illustrate the result.

A new formulation of Economic Model Predictive Control without terminal constraint