Periodic reference tracking for nonlinear systems via model predictive control

In this paper, we present a Model Predictive Control scheme for asymptotic tracking of periodic state references for discrete-time nonlinear systems subject to input and state constraints. The focus of this paper lies in the construction of the terminal region and the terminal cost function, which are time-varying. We also extend our results to the output tracking case by using well known results from the theory of output regulation. In this case we assume that the reference is generated by an exosystem.