In this paper, it is shown that a simple formulation of Economic Model Predictive Control can be used which possesses two features that are generally viewed as mutually exclusive, namely, a rather short prediction horizon (reachability-compatible) on one side, and the absence of final constraint on the other side. Practical stability at an arbitrarily small neighborhood of the optimal unknown steady-state pair is shown when some design parameters increase. It is also shown that when the system is originated from the time discretization of a continuous-time dynamics, the size of the terminal region can be reduced by decreasing the sampling period for the same design parameter setting. A commonly used example is given to illustrate the results.

本文表明，可以使用经济模型预测控制的简单公式，该模型具有两个通常被认为是互斥的特征，即，一侧的预测范围很短（可达性兼容），并且没有在另一端的最终约束。当一些设计参数增加时，在最佳未知稳态对的任意小的邻域中的实际稳定性就会显示出来。还显示出，当系统源自连续时间动力学的时间离散时，可以通过减少相同设计参数设置的采样周期来减小终端区域的大小。给出了一个常用的例子来说明结果。