Notice of RetractionAn effective terminal condition ensuring stability of MPC

Notice of Retraction

After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.

We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.

The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.

The stability of MPC is a tighten problem and can be guaranteed through choosing a set of ingredients which satisfying stability conditions. The ingredients are the terminal cost function, the local control law and the terminal constraint set. In this paper, a novel way of choosing these ingredients is shown. The solution of the optimal problem which is changed by adding the slaw-rate items into the cost function is chosen to be the local stability controller, the optimal value function of the problem is chosen to be the terminal cost function and the level set of the value function is chosen to be the terminal constraint set. Finally, a simple example is given to lay out the application of the new algorithm. Based on the ensuring process and the example, we believe that the chosen ingredients are a set of effective terminal conditions that ensuring the stability of the MPC.