Calculating the terminal region of NMPC for Lure systems via LMIs

One way to guarantee stability in nonlinear model predictive control (NMPC) is to calculate a suitable stabilizing terminal penalty term and terminal region. This is in general a difficult task. In this paper a structured approach to overcome this problem for the class of Lure systems subject to state and input constraints is provided. In particular, the terminal penalty term and the terminal region are computed by solving a set of LMIs. The example of a flexible joint robotic arm illustrates the results of this paper.