A unifying framework for stability in MPC using a generalized integral terminal cost

This work presents a novel model predictive control (MPC) scheme using a generalized integral terminal cost term. This generalized scheme exhibits close connections to recent results on unconstrained MPC as well as classical MPC using control Lyapunov functions as terminal weights. In particular, we show that both previous results can be regarded as limit cases of our setup. An example illustrates possible advantages provided by the increased flexibility of the proposed scheme compared to the previous results.