Robustness of steady-state optimality in economic model predictive control

We study a dissipativity property which was recently used in several results on economic model predictive control to ensure optimal operation of a system at steady-state as well as stability. This dissipativity property involves a supply rate which depends on the state and input constraints imposed on the system. The main contribution of this paper is to show that under certain conditions, this dissipativity property, and hence also optimal operation of a system at steady-state, is robust with respect to small changes in the constraint set. Moreover, we show that further results are possible if a certain convexity assumption is satisfied.