MPC for nonlinear periodic tracking using reference generic offline computations

We present a nonlinear model predictive control (MPC) scheme for tracking of periodic output trajectories. The scheme combines stabilization and output regulation in one layer, thus ensuring constraint satisfaction irrespective of changes in the reference signal. For periodic reference signals we ensure exponential stability of the optimal periodic trajectory. The main tool to enable this design is a novel reference generic offline computation that provides suitable terminal ingredients for tracking of reference trajectories. The practicality of this approach is demonstrated at a benchmark example.