Successive constrained optimization and interpolation in non-linear model based predictive control

Interpolation involving constrained optima offers distinctive advantages To r linear and non-linear model based predictive control algorithms. For non- linear systems the computation or minima is non-trivial and sub-optimal sol utions can be sought through linearization about particular trajectories. H ere we show that successive linearizations and locally constrained optimiza tions can, at a modest extra computation, lead to significant improvements.