On the design of terminal ingredients for data-driven MPC

Abstract: We present a model predictive control (MPC) scheme to control linear time-invariant systems using only measured input-output data and no model knowledge. The scheme includes a terminal cost and a terminal set constraint on an extended state containing past input-output values. We provide an explicit design procedure for the corresponding terminal ingredients that only uses measured input-output data. Further, we prove that the MPC scheme based on these terminal ingredients exponentially stabilizes the desired setpoint in closed loop. Finally, we illustrate the advantages over existing data-driven MPC approaches with a numerical example.