Enforcing asymptotic orbital stability of economic model predictive control

This paper is about economic model predictive control (EMPC), a modern receding horizon based control technique that minimizes at each sampling instance an economic objective on a moving horizon subject to a continuous-time model dynamics and, optionally, control and state constraints. The contribution of this paper is the introduction of a new type of terminal constraint and terminal cost, which allow us to enforce the asymptotic orbital stability of EMPC under reasonable assumptions on the controllability and well-posedness of the problem. We provide an associated orbital Lyapunov function that is employed for proving stability.