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Robustness properties of nonlinear receding-horizon controllers with zero terminal state constraints are investigated with respect to gain and additive perturbations. Some robustness margins are derived by extending to the receding-horizon case the analysis originally proposed by Geromel and da Cruz for infinite-horizon controllers. In the linear case, it is shown that the zero terminal state receding-horizon controller exhibits worse robustness margins compared to standard infinite-horizon LQ control.
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Nicolao et al. (1996) studied this question.
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