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Towards Funnel MPC for nonlinear systems with relative degree two

Funnel MPC, a novel Model Predictive Control (MPC) scheme, allows guaranteed output tracking of smooth reference signals with prescribed error bounds for nonlinear multi-input multi-output systems. To this end, the stage cost resembles the high-gain idea of funnel control. However, rigorous proofs for initial and recursive feasibility without incorporating additional output constraints in the Funnel MPC scheme are only available for systems with relative degree one and stable internal dynamics. In this paper, we extend these results to systems with relative degree two by incorporating also a term based on the idea of a derivative funnel in the stage cost.