Implementation of a Stabilizing Constrained Receding Horizon Regulator

The implementation of an infinite horizon regulator which allows incorporation of both input and state constraints in a receding horizon feedback strategy is presented. This implementation guarantees nominal closed loop stability of the constrained regulator for both stable and unstable discrete linear systems with feasible constraints. Feasibility of the constraints can always be achieved for stable systems by removing the state constraints at the beginning of the infinite horizon. For unstable systems, constrained stabilizability is required to ensure feasibility.