INCREASING THE SAMPLING INTERVALΔAND REDUCING THE NUMBERPOF SAMPLES...

2. Increasing the sampling intervalδand reducing the numberPof samples over the pre-u˜

_k

=

Kx˜

_k

, (20)diction horizon. This also allows to decrease the optimization problem order whilepreserving the value of the prediction horizon.which converges to the LQR-optimal one asPis increased. This convergence is obvious, be-cause the discrete LQR controller minimizes the functional (13) with infinity prediction hori-