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npx versuz@latest install hiyenwong-ai-collection-collection-skills-discounted-mpc-infinite-horizon-optimal-controgit clone https://github.com/hiyenwong/ai_collection.gitcp ai_collection/SKILL.MD ~/.claude/skills/hiyenwong-ai-collection-collection-skills-discounted-mpc-infinite-horizon-optimal-contro/SKILL.md--- name: discounted-mpc-infinite-horizon-optimal-control description: "We study closed-loop stability and suboptimality for MPC and infinite-horizon optimal control solved using a surrogate model that differs from the real plant. We employ a unified f... Activation: discounted, infinite, horizon, optimal, control" --- # Discounted MPC and infinite-horizon optimal control under plant-model mismatch: Stability and suboptimality ## Overview We study closed-loop stability and suboptimality for MPC and infinite-horizon optimal control solved using a surrogate model that differs from the real plant. We employ a unified framework based on quadratic costs to analyze both finite- and infinite-horizon problems, encompassing discounted and undiscounted scenarios alike. Plant-model mismatch bounds proportional to states and controls are assumed, under which the origin remains an equilibrium. ## Source Paper - **Title:** Discounted MPC and infinite-horizon optimal control under plant-model mismatch: Stability and suboptimality - **Authors:** Robert H. Moldenhauer, Karl Worthmann, Romain Postoyan, Dragan Nešić, Mathieu Granzotto - **arXiv:** 2604.08521v1 - **Published:** 2026-04-09 - **Categories:** math.OC, eess.SY ## Core Concepts ### Key Contributions 1. We study closed-loop stability and suboptimality for MPC and infinite-horizon optimal control solved using a surrogate m... 2. We employ a unified framework based on quadratic costs to analyze both finite- and infinite-horizon problems, encompassi... 3. Plant-model mismatch bounds proportional to states and controls are assumed, under which the origin remains an equilibri... ## Practical Applications - Control system design and optimization - Distributed system coordination - Multi-agent system orchestration ## References - Robert H. Moldenhauer et al. (2026). "Discounted MPC and infinite-horizon optimal control under plant-model mismatch: Stability and suboptimality." arXiv:2604.08521v1. ## Activation Keywords - discounted, infinite, horizon, optimal, control, under, plant, model --- *Generated: 2026-04-13*