Stability and feasibility of MPC for switched linear systems with dwell-time constraints

This paper considers the control of discrete-time switched linear systems using model predictive control. A model predictive controller is designed with terminal cost and constraints depending on the terminal mode of the switched linear system. Conditions on the terminal cost and constraints are presented to ensure persistent feasibility and stability of the closed-loop system given sufficiently long dwell-time. A procedure is proposed to numerically compute admissible terminal costs and constraint sets.