@inproceedings{eprints610,
       booktitle = {Proc. European Control Conf.},
           title = {Model predictive control - ideas for the next generation},
          author = {Alberto Bemporad and Giancarlo Ferrari-Trecate and Domenico Mignone and Manfred Morari and Fabio Danilo Torrisi},
            year = {1999},
         journal = {Proc. European Control Conf.},
             url = {http://eprints.imtlucca.it/610/},
        abstract = {Mixed Logical Dynamical (MLD) systems are introduced
as a new system type. The MLD form is capable to model
a broad class of systems arising in many applications: linear hybrid systems; sequential logical systems (finite state machines, automata); nonlinear dynamic systems, where
the nonlinearity can be expressed through combinational
logic; some classes of discrete event systems; constrained
linear systems. Controllability/verification and observability of MLD systems and other system theoretic properties are defined. Tests for these properties are formulated in the form of Mixed-Integer Linear Programs. Moving horizon control and estimation strategies with stability guarantees are proposed. These strategies require the iterative solution of Mixed-Integer Quadratic Programs.
Several examples communicate the power and versatility
of the proposed framework.}
}