Linking Stability and Robustness of Nonlinear MPC and Economic MPC to Properties of Optimization Subproblems:Building on the Rawlings Results

This talk presents and analyzes optimization problem formulations for NMPC and eNMPC,
and extends optimality and regularity conditions that are needed to fulfill well-known stability 
and robustness properties developed by Rawlings and coworkers. Optimization strategies that 
rely on these formulations are synthesized and several illustrative NMPC and eNMPC examples 
are presented that demonstrate their benefits.