Model predictive control for hybrid systems under a state partition based MLD approach (SPMLD)

This paper presents the State Partition based Mixed Logical Dynamical (SPMLD) formalism as a new modeling technique for a class of discrete-time hybrid systems, where the system is defined by different modes with continuous and logical control inputs and state variables, each model subject to linear constraints. The reformulation of the predictive strategy for hybrid systems under the SPMLD approach is then developed. This technique enables to considerably reduce the computation time (with respect to the classical MPC approaches for PWA and MLD models), as a positive feature for real time implementation. This strategy is applied in simulation to the control of a three tanks benchmark.