Hespe, ChristianChristianHespeWerner, HerbertHerbertWerner2022-03-212022-03-212021-1260th IEEE Conference on Decision and Control (CDC 2021)http://hdl.handle.net/11420/12053In this paper, we study the convergence properties of an iterative algorithm for fast nonlinear model predictive control (MPC) of quasi-linear parameter-varying systems without inequality constraints. Compared to previous works considering this algorithm, we contribute conditions under which the iterations are guaranteed to converge. Furthermore, we show that the algorithm converges to suboptimal solutions and propose an optimality-preserving variant with moderately increased computational complexity. Finally, we compare both variants in terms of quality of solution and computational performance with a state-of-the-art solver for nonlinear MPC in two simulation benchmarks.en0743-1546202138693874Conference Paper10.1109/CDC45484.2021.9683612Other