Nonlinear model predictive control based on state dependent Riccati equation

In this work, we introduce an approach to nonlinear model predictive based on the so-called state dependent Riccati equation, SDRE. In this approach, the model is first cast in a form similar to the linear state space representation. Then the algebraic Riccati equation is constructed based on a similarity with the linear quadratic regulator to obtain stable NMPC. The method requires the solution of the Riccati equation at each sampling period. Simulation results are quite encourageing.