A nonlinear model predictive control with enlarged region of attraction via the union of invariant sets

In the dual-mode model predictive control (MPC) framework, the size of the stabilizable set, which is also the region of attraction, depends on the terminal constraint set. This paper aims to formulate a larger terminal set for enlarging the region of attraction in a nonlinear MPC. Given several control laws and their corresponding terminal invariant sets, a convex combination of the given sets is used to construct a time-varying terminal set. The resulting region of attraction is the union of the regions of attraction from each invariant set. Simulation results show that the proposed MPC has a larger stabilizable initial set than the one obtained when a fixed terminal set is used.