Receding horizon stabilizing control without terminal constraint on the state

A new formulation of the open loop optimal control problem is shown to be possible and possesses even stronger stabilizing properties than the ones previously discussed. It is hence shown, contrary to what was understood previously, that the receding horizon control strategy is not delimited to clamped end-point open loop control problem formulations. Due to the absence of the terminal state constraint, the new formulation is shown to permit short optimization horizons which facilitates online repetitive solution of the receding horizon open loop control problem