Stabilizing model predictive control of hybrid systems with discrete dynamics

This paper discusses the stabilization problem of hybrid systems using control Lyapunov functions (CLFs). A CLF approach is one of the powerful methods in the stabilization of nonlinear systems. However, there are a few results for the stabilization of hybrid systems. In this paper, to develop stability theory of hybrid systems with discrete dynamics, a construction method of a CLF is proposed. Furthermore, based on the obtained CLF, a stabilizing model predictive control algorithm is also proposed. Finally, the effectiveness of the proposed method is shown by a numerical example.