{"id":"https://openalex.org/W4392617598","doi":"https://doi.org/10.1109/lcsys.2024.3396611","title":"Fourth-Order Suboptimality of Nominal Model Predictive Control in the Presence of Uncertainty","display_name":"Fourth-Order Suboptimality of Nominal Model Predictive Control in the Presence of Uncertainty","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4392617598","doi":"https://doi.org/10.1109/lcsys.2024.3396611"},"language":"en","primary_location":{"id":"doi:10.1109/lcsys.2024.3396611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2024.3396611","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2403.04559","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5007116590","display_name":"Florian Messerer","orcid":"https://orcid.org/0000-0002-6984-9585"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Florian Messerer","raw_affiliation_strings":["Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0002-6984-9585","affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012277347","display_name":"Katrin Baumg\u00e4rtner","orcid":"https://orcid.org/0009-0004-0485-8386"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Katrin Baumg\u00e4rtner","raw_affiliation_strings":["Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0009-0004-0485-8386","affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK), University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052312024","display_name":"Sergio Lucia","orcid":"https://orcid.org/0000-0002-3347-5593"},"institutions":[{"id":"https://openalex.org/I200332995","display_name":"TU Dortmund University","ror":"https://ror.org/01k97gp34","country_code":"DE","type":"education","lineage":["https://openalex.org/I200332995"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sergio Lucia","raw_affiliation_strings":["Chair of Process Automation Systems, TU Dortmund University, Dortmund, Germany"],"raw_orcid":"https://orcid.org/0000-0002-3347-5593","affiliations":[{"raw_affiliation_string":"Chair of Process Automation Systems, TU Dortmund University, Dortmund, Germany","institution_ids":["https://openalex.org/I200332995"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5057375078","display_name":"Moritz Diehl","orcid":"https://orcid.org/0000-0001-6556-8252"},"institutions":[{"id":"https://openalex.org/I161046081","display_name":"University of Freiburg","ror":"https://ror.org/0245cg223","country_code":"DE","type":"education","lineage":["https://openalex.org/I161046081"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Moritz Diehl","raw_affiliation_strings":["Department of Microsystems Engineering (IMTEK) and the Department of Mathematics, University of Freiburg, Freiburg, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6556-8252","affiliations":[{"raw_affiliation_string":"Department of Microsystems Engineering (IMTEK) and the Department of Mathematics, University of Freiburg, Freiburg, Germany","institution_ids":["https://openalex.org/I161046081"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5826,"has_fulltext":true,"cited_by_count":2,"citation_normalized_percentile":{"value":0.63768635,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":95,"max":96},"biblio":{"volume":"8","issue":null,"first_page":"508","last_page":"513"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12910","display_name":"Eicosanoids and Hypertension Pharmacology","score":0.9086999893188477,"subfield":{"id":"https://openalex.org/subfields/1303","display_name":"Biochemistry"},"field":{"id":"https://openalex.org/fields/13","display_name":"Biochemistry, Genetics and Molecular Biology"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/model-predictive-control","display_name":"Model predictive control","score":0.6930899024009705},{"id":"https://openalex.org/keywords/context","display_name":"Context (archaeology)","score":0.6220423579216003},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5705178380012512},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.5390474200248718},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.5024216175079346},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.44382524490356445},{"id":"https://openalex.org/keywords/optimal-control","display_name":"Optimal control","score":0.42577847838401794},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.36899861693382263},{"id":"https://openalex.org/keywords/applied-mathematics","display_name":"Applied mathematics","score":0.3256625533103943},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.26978206634521484}],"concepts":[{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.6930899024009705},{"id":"https://openalex.org/C2779343474","wikidata":"https://www.wikidata.org/wiki/Q3109175","display_name":"Context (archaeology)","level":2,"score":0.6220423579216003},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5705178380012512},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.5390474200248718},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.5024216175079346},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.44382524490356445},{"id":"https://openalex.org/C91575142","wikidata":"https://www.wikidata.org/wiki/Q1971426","display_name":"Optimal control","level":2,"score":0.42577847838401794},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.36899861693382263},{"id":"https://openalex.org/C28826006","wikidata":"https://www.wikidata.org/wiki/Q33521","display_name":"Applied mathematics","level":1,"score":0.3256625533103943},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.26978206634521484},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lcsys.2024.3396611","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lcsys.2024.3396611","pdf_url":null,"source":{"id":"https://openalex.org/S4306422535","display_name":"IEEE Control Systems Letters","issn_l":"2475-1456","issn":["2475-1456"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Control Systems Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2403.04559","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.04559","pdf_url":"https://arxiv.org/pdf/2403.04559","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2403.04559","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2403.04559","pdf_url":"https://arxiv.org/pdf/2403.04559","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/8","display_name":"Decent work and economic growth","score":0.41999998688697815}],"awards":[{"id":"https://openalex.org/G3368411894","display_name":null,"funder_award_id":"03EN3054B","funder_id":"https://openalex.org/F4303701741","funder_display_name":"Bundesministerium f\u00fcr Wirtschaft und Klimaschutz"},{"id":"https://openalex.org/G3373257281","display_name":null,"funder_award_id":"03EI4057A","funder_id":"https://openalex.org/F4303701741","funder_display_name":"Bundesministerium f\u00fcr Wirtschaft und Klimaschutz"},{"id":"https://openalex.org/G4003259310","display_name":null,"funder_award_id":"424107692","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G4233690963","display_name":null,"funder_award_id":"525018088","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G4304270181","display_name":null,"funder_award_id":"423857295","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"},{"id":"https://openalex.org/G4526764872","display_name":null,"funder_award_id":"FOR 2401","funder_id":"https://openalex.org/F4320320879","funder_display_name":"Deutsche Forschungsgemeinschaft"}],"funders":[{"id":"https://openalex.org/F4303701741","display_name":"Bundesministerium f\u00fcr Wirtschaft und Klimaschutz","ror":"https://ror.org/02vgg2808"},{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":true,"grobid_xml":false},"content_urls":{"pdf":"https://content.openalex.org/works/W4392617598.pdf"},"referenced_works_count":17,"referenced_works":["https://openalex.org/W2027968610","https://openalex.org/W2031804244","https://openalex.org/W2041454799","https://openalex.org/W2066372497","https://openalex.org/W2066867936","https://openalex.org/W2075767141","https://openalex.org/W2123871098","https://openalex.org/W2134673975","https://openalex.org/W2165545652","https://openalex.org/W2241352138","https://openalex.org/W2735074840","https://openalex.org/W2842089854","https://openalex.org/W3209553595","https://openalex.org/W4247165901","https://openalex.org/W4294690622","https://openalex.org/W4388904098","https://openalex.org/W4391020177"],"related_works":["https://openalex.org/W1990079087","https://openalex.org/W2101188133","https://openalex.org/W3202234113","https://openalex.org/W4248731570","https://openalex.org/W2381210024","https://openalex.org/W2060165215","https://openalex.org/W2384015130","https://openalex.org/W4285595274","https://openalex.org/W2556120871","https://openalex.org/W2086351220"],"abstract_inverted_index":{"We":[0,58,133],"investigate":[1],"the":[2,6,28,37,41,67,77,95,103,113,120,123,135,149,157],"suboptimality":[3,22,68,96],"resulting":[4],"from":[5],"application":[7],"of":[8,40,54,71,79,87,105,116,130,159],"nominal":[9,48,117],"model":[10],"predictive":[11],"control":[12,32,56,127],"(MPC)":[13],"to":[14,27,51,76,146,154],"a":[15,52,62,81,89,138],"nonlinear":[16],"discrete":[17],"time":[18],"stochastic":[19,30],"system.":[20,44],"The":[21],"is":[23,70,107,129],"defined":[24],"with":[25,74],"respect":[26,75],"corresponding":[29],"optimal":[31,124],"problem":[33],"(OCP)":[34],"that":[35,94],"minimizes":[36],"expected":[38],"cost":[39],"closed":[42],"loop":[43],"In":[45],"this":[46],"context,":[47],"MPC":[49],"corresponds":[50],"form":[53],"certainty-equivalent":[55],"(CEC).":[57],"prove":[59],"that,":[60],"in":[61,156],"smooth":[63],"and":[64,125],"unconstrained":[65],"setting,":[66],"growth":[69],"fourth":[72],"order":[73],"level":[78,104],"uncertainty,":[80],"parameter":[82],"which":[83,142],"we":[84,143],"can":[85],"think":[86],"as":[88,102],"standard":[90],"deviation.":[91],"This":[92],"implies":[93],"does":[97],"not":[98],"grow":[99],"very":[100],"quickly":[101],"uncertainty":[106],"increased,":[108],"providing":[109],"further":[110],"insight":[111],"into":[112],"practical":[114],"success":[115],"MPC.":[118],"Similarly,":[119],"difference":[121],"between":[122],"suboptimal":[126],"inputs":[128],"second":[131],"order.":[132],"illustrate":[134],"result":[136],"on":[137],"simple":[139],"numerical":[140],"example,":[141],"also":[144],"use":[145],"show":[147],"how":[148],"proven":[150],"relationship":[151],"may":[152],"cease":[153],"hold":[155],"presence":[158],"state":[160],"constraints.":[161]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
