@incollection{eprints568,
           title = {Piecewise linear optimal controllers for hybrid systems},
            year = {2000},
          volume = {2},
           pages = {1190--1194},
         address = {Chicago, 28-30 June 2000 },
       booktitle = {American Control Conference},
       publisher = {IEEE},
         journal = {American Control Conference},
          author = {Alberto Bemporad and Francesco Borrelli and Manfred Morari},
        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},
             url = {http://eprints.imtlucca.it/568/},
        abstract = {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}
}