MPC under the hood/sous le capot/unter der Haube

The paper develops achieved performance bounds for MPC control applied over the infinite horizon to constrained systems with persistent disturbances and persistently active constraints. This is approached from a minimalist perspective of introducing as few assumptions as possible and separating the feasibility analysis, which is shown to be purely topological, from the performance analysis, which is based on value functions and builds on the work of Jadbabaie, Hauser, Grüne and Rantzer. A specific focus is on the requirements for stability, where MPC stability in the sense of bounded-input/bounded-state is addressed.