{
  "abstract": "This paper presents a novel approach to synthesize stabilizing termi- nal ingredients for linear model predictive control (MPC) schemes, with the aim of increasing the region of attraction while reducing suboptimal- ity with respect to the solution of the infinite-horizon optimal control problem. It is based on the construction of a novel terminal region using methods from the field of configuration-constrained polytopic computing, along with a terminal cost that is exactly equal to the infinite-horizon linear-quadratic regulator cost in a nontrivial neighborhood of the steady- state. The practical performance of the controller is illustrated through various case studies, and comparisons with state-of-the-art approaches are presented.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": "Journal reference: 2026",
  "arxiv": "2605.18510",
  "author_total": 4,
  "authors": [
    {
      "name": "Sampath Kumar Mulagaleti"
    },
    {
      "name": "Boris Houska"
    },
    {
      "name": "Mario Zanon"
    },
    {
      "name": "Mario E. Villanueva"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/b1axrc0eg7vvp.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2605.18510",
  "fulltext_url": null,
  "id": "b1axrc0eg7vvp",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2605.18510",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ]
  ],
  "openalex": null,
  "pdf_url": "https://arxiv.org/pdf/2605.18510",
  "pmcid": null,
  "pmid": null,
  "published": "2026-05-18",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/b1axrc0eg7vvp.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:19:57Z",
      "native_id": "2605.18510",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2605.18510"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "On Piecewise Quadratic Terminal Costs for MPC",
  "title_text": "On Piecewise Quadratic Terminal Costs for MPC",
  "type": "preprint",
  "updated_at": "2026-10-30T12:19:57Z",
  "url": "https://research.draconitic.com/paper/b1axrc0eg7vvp",
  "venue": "arXiv",
  "versions": [
    {
      "doi": "10.1016/j.jprocont.2026.103826",
      "pid": null,
      "relation": "published-as",
      "title": null,
      "venue": null
    }
  ]
}