%0 Conference Paper
%A Bemporad, Alberto
%A Ferrari-Trecate, Giancarlo
%A Mignone, Domenico
%A Morari, Manfred
%A Torrisi, Fabio Danilo
%B European Control Conference 
%C Karlsruhe, Germany
%D 1999
%F eprints:610
%T Model predictive control - ideas for the next generation
%U http://eprints.imtlucca.it/610/
%X 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.