TY - CHAP UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=876688&isnumber=18973 M1 - 2 AV - none Y1 - 2000/// SP - 1190 ID - eprints568 KW - 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 TI - Piecewise linear optimal controllers for hybrid systems N2 - 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 EP - 1194 A1 - Bemporad, Alberto A1 - Borrelli, Francesco A1 - Morari, Manfred CY - Chicago, 28-30 June 2000 T2 - American Control Conference PB - IEEE SN - 0-7803-5519-9 ER -