@incollection{eprints514,
          author = {Stefano Di Cairano and Mircea Lazar and Alberto Bemporad and W.P.M.H. Heemels},
            year = {2008},
         journal = {Hybrid Systems: Computation and Control },
           title = {A control Lyapunov approach to predictive control of hybrid systems},
          editor = {Magnus  Egerstedt and Bud  Mishra},
       booktitle = {Hybrid Systems: Computation and Control },
          volume = {4981},
           pages = {130--143},
       publisher = {Springer-Verlag},
             url = {http://eprints.imtlucca.it/514/},
        abstract = {In this paper we consider the stabilization of hybrid systems with both continuous and discrete dynamics via predictive control. To deal with the presence of discrete dynamics we adopt a ?hybrid? control Lyapunov function approach, which consists of using two different functions.
A Lyapunov-like function is designed to ensure finite-time convergence of the discrete state to a target value, while asymptotic stability of the continuous state is guaranteed via a classical local control Lyapunov function. We show that by combining these two functions in a proper manner it is no longer necessary that the control Lyapunov function for the continuous dynamics decreases at each time step. This leads to a significant reduction of conservativeness in contrast with classical Lyapunov based predictive control. Furthermore, the proposed approach also leads
to a reduction of the horizon length needed for recursive feasibility with respect to standard predictive control approaches.}
}