Piecewise linear optimal controllers for hybrid systems
- 1 January 2000
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 2, 1190-1194 vol.2
- https://doi.org/10.1109/acc.2000.876688
Abstract
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 l/sub 1///spl infin/-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.Keywords
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