Stabilizing linear model predictive control: On the enlargement of the terminal set

It is well known that a large terminal set leads to a large region where the MPC problem is feasible without the need for a long prediction horizon. This paper proposes a new method for the enlargement of the terminal set. Contrary to existing approaches, the method uses the convex hull of a trajectory as the basis for the construction. This trajectory may be any feasible trajectory of the system terminating in an invariant set around the origin and is not restricted to consist only of equilibrium points. The method is applied in an MPC scheme where the terminal set is calculated at initialization.