%V 4981
%B Hybrid Systems: Computation and Control 
%I Springer-Verlag
%L eprints514
%X 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.
%A Stefano Di Cairano
%A Mircea Lazar
%A Alberto Bemporad
%A W.P.M.H. Heemels
%D 2008
%E Magnus  Egerstedt
%E Bud  Mishra
%T A control Lyapunov approach to predictive control of hybrid systems
%R 10.1007/978-3-540-78929-1_10
%J Hybrid Systems: Computation and Control 
%P 130-143