  We study tracking control for nonlinear systems with known relative degree
and stable internal dynamics by the recently introduced technique of Funnel
MPC. The objective is to achieve the evolution of the tracking error within a
prescribed performance funnel. We propose a novel stage cost for Funnel MPC,
extending earlier designs to the case of arbitrary relative degree, and show
that the control objective as well as initial and recursive feasibility are
always achieved - without requiring any terminal conditions or a sufficiently
long prediction horizon. We only impose an additional feasibility constraint in
the optimal control problem.
