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Receding horizon control of nonlinear systems: a control Lyapunov function approach

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Figure

Figure 2.1: eLF sub-level set Sl"v as well as Xy(-) and x k(-).
Figure 2.2: Optimal trajectories that enter [lrv need not stay in [lrv .
Figure 2.4: r~ The region of attraction r~ (in gray) as well as f;:-8 (dotted line) and (solid line)
Figure 2.5: sublevel set Also depicted are the trajectories r; The for T = 0.3 and r = r v = 6.34 together with Orv ' xr (-; x) for x on the boundary of r;:
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