Minkowski terminal cost functions for MPC

This technical communique delivers a systematic procedure for obtaining a suitable terminal cost function for model predictive control based on Minkowski cost functions. It is shown that, for any given stabilizing linear state feedback control law and associated λ-contractive proper C-set, there always exists a non-trivial scaling of the λ-contractive proper C-set such that the associated Minkowski function satisfies the standard MPC terminal cost stability inequality.