Stochastic MPC with inequality stability constraints

Stochastic uncertainty is a common feature of many control engineering problems, and is also present in a wider class of applications, e.g. finance and sustainable development. Recent work proposed a constrained MPC approach that took explicit account of the distributions of uncertain model parameters but used terminal equality constraints to ensure stability. The present paper reformulates the problem in order to relax the stability constraints by invoking appropriate terminal inequalities. The application of the proposed strategy and its advantages over earlier work are illustrated by means of a numerical example.