Exponential stability and suboptimality guarantees for discounted and undiscounted MPC under plant-model mismatch proportional to states and inputs, with uniform robustness over horizon length.
Model predictive control: for want of a local control Lyapunov function, all is not lost,
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Discounted MPC and infinite-horizon optimal control under plant-model mismatch: Stability and suboptimality
Exponential stability and suboptimality guarantees for discounted and undiscounted MPC under plant-model mismatch proportional to states and inputs, with uniform robustness over horizon length.