Mathematical Problems in Engineering
Volume 2010 (2010), Article ID 853679, 16 pages
Research Article

Getting a Suitable Terminal Cost and Maximizing the Terminal Region for MPC

1Department of Control Engineering, Naval Aeronautical and Astronautical University, Yantai 264001, China
2Department of Computer Science and Technology, Tsinghua University, Beijing 100084, China

Received 23 November 2009; Revised 25 February 2010; Accepted 30 August 2010

Academic Editor: Irina N. Trendafilova

Copyright © 2010 Wang Ya-feng et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The model predictive control (MPC) subject to control and state constraint is studied. Given a terminal cost, a terminal region is obtained through iterative estimation by using support vector machine (SVM). It is proved that the obtained terminal region is the largest terminal region when the terminal cost is given. The relationships between terminal cost and terminal region and between terminal cost and total cost are discussed, respectively. Based on these relationships, a simple method to get a suitable terminal cost is proposed and it can be adjusted according to our need. Finally, some experiment results are presented.