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Piecewise linear optimal controllers for hybrid systems

Bemporad, Alberto and Borrelli, Francesco and Morari, Manfred Piecewise linear optimal controllers for hybrid systems. In: American Control Conference. IEEE, Chicago, 28-30 June 2000 , pp. 1190-1194. ISBN 0-7803-5519-9 (2000)

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We propose a procedure for synthesizing piecewise linear optimal controllers for discrete-time hybrid systems. A stabilizing controller is obtained by designing a model predictive controller, which is based on the minimization of a weighted l1/∞-norm of the tracking error and the input trajectories over a finite horizon. The control law is obtained by solving a multiparametric mixed-integer linear program, which avoids solving mixed-integer programs online. As the resulting control law is piecewise affine, online computation is drastically reduced to a simple linear function evaluation

Item Type: Book Section
Identification Number: 10.1109/ACC.2000.876688
Uncontrolled Keywords: discrete-time systems; hybrid systems; integer programming; linear programming; minimization; model predictive control; piecewise linear optimal control; robust control; continuous time systems; control system synthesis; discrete time systems; integer programming; linear programming; optimal control; predictive control; robust control
Subjects: Q Science > QA Mathematics
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
T Technology > TJ Mechanical engineering and machinery
Research Area: Computer Science and Applications
Depositing User: Professor Alberto Bemporad
Date Deposited: 27 Jul 2011 09:11
Last Modified: 17 Jul 2014 12:17
URI: http://eprints.imtlucca.it/id/eprint/568

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