Translating PWA systems into MLD systems

This work presents two algorithms which translate piecewise affine (PWA) systems into mixed logical and dynamical (MLD) systems. The two algorithms correspond to two different formulations of PWA systems. One of them consists of affine subsystems with switching regions between them, the other one consists of affine subsystems bounded by a convex region. Each algorithm is illustrated with an example and the simulation results show that each calculated MLD system is equivalent to the original PWA one, for both examples.