A New Model Predictive Control Strategy for Affine Nonlinear Control Systems

This paper considers the stabilization problem for control-affine nonlinear systems. A gradient-based numerical method is proposed to solve this problem. A receding horizon strategy, from model predictive control, is used to yield a feedback control law. We show that, under certain weak assumptions, the closed-loop system is asymptotically stable. The full swing-up of the cartpole system shows the possibility of considering fast nonlinear systems.