Receding horizon control of nonlinear systems

The receding horizon control strategy provides a relatively simple method for determining feedback control for linear or nonlinear systems; the method is especially useful for the control of slow nonlinear systems, such as chemical batch processes, where it is possible to solve, sequentially, open-loop, fixed-horizon, optimal control problems online. The authors show that receding horizon control stabilizes a wide class of nonlinear systems, extending the results of their previous paper, which require the finite-horizon value function to be continuously differentiable