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Stabilizing model predictive control scheme for piecewise affine systems with maximal positively invariant terminal set

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3 Author(s)
Fu Chen ; College of System Science and Engineering, Zhejiang University, Hangzhou 310027, P. R. China; Key Laboratory of Tobacco Processing Technology, Zhengzhou Tobacco Research Institute of CNTC, Zhengzhou 450001, P. R. China ; Guangzhou Zhao ; Xiaoming Yu

An efficient algorithm is proposed for computing the solution to the constrained finite time optimal control (CFTOC) problem for discrete-time piecewise affine (PWA) systems with a quadratic performance index. The maximal positively invariant terminal set, which is feasible and invariant with respect to a feedback control law, is computed as terminal target set and an associated Lyapunov function is chosen as terminal cost. The combination of these two components guarantees constraint satisfaction and closed-loop stability for all time. The proposed algorithm combines a dynamic programming strategy with a multi-parametric quadratic programming solver and basic polyhedral manipulation. A numerical example shows that a larger stabilizable set of states can be obtained by the proposed algorithm than precious work.

Published in:

Journal of Systems Engineering and Electronics  (Volume:21 ,  Issue: 6 )