Proves recursive feasibility and asymptotic stability for data-driven Koopman MPC with terminal conditions under a proportional error bound, applicable via kEDMD to broad nonlinear systems and shown in a numerical example.
Data-driven model predictive control: Asymptotic stability despite approximation errors exemplified in the Koopman framework
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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.
Tutorial on Koopman operator theory, data-driven methods such as EDMD, and their use in controller design for nonlinear systems with provided simulations and code.
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Stability of data-driven Koopman MPC with terminal conditions
Proves recursive feasibility and asymptotic stability for data-driven Koopman MPC with terminal conditions under a proportional error bound, applicable via kEDMD to broad nonlinear systems and shown in a numerical example.
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Koopman operator theory: fundamentals, control, and applications
Tutorial on Koopman operator theory, data-driven methods such as EDMD, and their use in controller design for nonlinear systems with provided simulations and code.