Stabilization and reference tracking for constrained switching systems: A predictive control approach

In this paper, the problem of designing a compensator capable of ensuring constraint satisfaction and tracking performance for a plant switching among a finite family of constrained linear time-invariant configurations is investigated. We assume that switching occurrences are governed by a logical rule, which prescribes that any information pertaining to time or state dependence of the system mode transitions is unavailable to the controller side. The novelty of the proposed approach, based on the exploitation of command governor ideas in connection with the receding horizon control philosophy, relies on the capability to online manage unpredictable mode switching by jointly preserving uniformly ultimate boundedness and constraint fulfillment despite any admissible disturbance effect.