%I IEEE
%V 2
%T Piecewise linear optimal controllers for hybrid systems
%P 1190-1194
%C Chicago, 28-30 June 2000 
%B American Control Conference
%R 10.1109/ACC.2000.876688
%J American Control Conference
%K 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
%A Alberto Bemporad
%A Francesco Borrelli
%A Manfred Morari
%X 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
%L eprints568
%D 2000