Nonlinear stabilization using discontinuous moving-horizon control

The moving-horizon control strategy provides a relatively simple method for determining feedback control for nonlinear systems. This type of control has been shown to be globally asymptotically stabilizing when applied to a class of time-invariant nonlinear systems. An additional feature that makes the moving-horizon control attractive for applications is that it is robust and allows for construction of feedback control in the presence of control and state constraints imposed on the system. In this paper, we allow the moving-horizon feedback law to be discontinuous, and extend the previous results to general nonlinear time-varying systems with state constraints. We also discuss the robustness of moving-horizon control to model-system error.