Local properties of economic NMPC, dissipativity and dynamic programming

Classical model predictive control (MPC) implementations rely on a quadratic, positive definite cost function. In economic MPC on the contrary, the stage cost can be any generic function. Recent research has focused on establishing the conditions for stability of economic MPC where strict dissipativity has been shown to play an important role. In this paper, starting from the linear quadratic case and successively extending the analysis to the nonlinear case, we attempt at clarifying the relationship between strict dissipativity and the properties of the MPC optimal control problem.