Nonlinear Model Predictive Control: Stability and Design Steps

This lecture covers the principles of Nonlinear Model Predictive Control (NMPC), including stability analysis with and without terminal constraints, economic NMPC formulations, and the numerical implementation of NMPC. The instructor discusses the design steps for optimal control and NMPC, emphasizing the importance of stability, state estimation, and robustness considerations. Various concepts such as adjoints, multipliers, and the practical convergence of economic NMPC are explored. The lecture concludes with a summary of the key points and open research questions in the field.

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Nazi Germany

Nazi Germany (officially known as the German Reich 1933–43, later the Greater German Reich 1943–45) was the German state between 1933 and 1945, when Adolf Hitler and the Nazi Party controlled the country, transforming it into a dictatorship. Under Hitler's rule, Germany quickly became a totalitarian state where many aspects of life were controlled by the government. The Third Reich, meaning "Third Realm" or "Third Empire", referred to the Nazi claim that Nazi Germany was the successor to the earlier Holy Roman Empire (800–1806) and German Empire (1871–1918).

Molotov–Ribbentrop Pact

The Molotov–Ribbentrop Pact was a non-aggression pact between Nazi Germany and the Soviet Union that partitioned Eastern Europe between them. The pact was signed in Moscow on 23 August 1939 by German Foreign Minister Joachim von Ribbentrop and Soviet Foreign Minister Vyacheslav Molotov and was officially known as the Treaty of Non-Aggression between Germany and the Union of Soviet Socialist Republics. Unofficially, it has also been referred to as the Hitler–Stalin Pact, Nazi–Soviet Pact or Nazi–Soviet Alliance.

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Optimal control theory is a branch of mathematical optimization that deals with finding a control for a dynamical system over a period of time such that an objective function is optimized. It has numerous applications in science, engineering and operations research. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the moon with minimum fuel expenditure.

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Karl Rudolf Gerd von Rundstedt (12 December 1875 – 24 February 1953) was a German field marshal in the Heer (Army) of Nazi Germany during World War II. Born into a Prussian family with a long military tradition, von Rundstedt entered the Prussian Army in 1892. During World War I, he served mainly as a staff officer. In the inter-war years, he continued his military career, reaching the rank of Colonel General (Generaloberst) before retiring in 1938. He was recalled at the beginning of World War II as commander of Army Group South in the invasion of Poland.

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