Faulwasser, TimmTimmFaulwasserFindeisen, RolfRolfFindeisen2024-02-272024-02-27201150th IEEE Conference on Decision and Control and European Control Conference (CDC-ECC 2011)978-1-61284-799-3978-1-61284-800-6978-1-61284-801-3https://hdl.handle.net/11420/46004We discuss a model predictive control approach to trajectory tracking problems of constrained nonlinear continuous time systems, where the reference trajectory is a priori known and asymptotically constant. The proposed NMPC scheme is able to explicitly consider input and state constraints while guaranteeing recursive feasibility. To handle the time-varying nature of the tracking problem we advocate the use of time-varying level sets of Lyapunov functions as terminal regions. We prove a necessary and sufficient condition for positive invariance of these sets and show how these sets can be efficiently computed, if a quadratic Lyapunov function is available. As an example we consider a nonlinear CSTR reactor. © 2011 IEEE.eninvariant setsnonlinear model predictive controltime-varying level setstrajectory trackingComputer SciencesElectrical Engineering, Electronic EngineeringConference Paper10.1109/CDC.2011.6160492Conference Paper