Discontinuous receding horizon control with state constraints

The receding horizon control strategy provides a relatively simple method for determining feedback control for nonlinear systems. This type of control has been shown to be globally asymptotically stabilizing when applied to a class of nonlinear systems. An additional feature that makes the receding horizon control attractive for applications is that it is robust and allows for construction of feedback control in the presence of control and state constraints imposed on the system. In this paper we allow the receding horizon feedback law to be discontinuous and extend the previous results to systems with state constraints