An Improved Approach for Output Feedback Model Predictive Control of Hybrid Systems

In this paper, a modified robust model predictive control scheme is proposed for linear parametric variable (LPV) and hybrid systems based on a quasi-min-max algorithm. Using a new cost function resulted in reduced unwanted disturbances during switching. In addition, the effects of uncertainties are reduced in the prediction dynamics, and robust stability of piecewise switching LPV systems subjected to linear matrix inequality (LMI) input constraints are guaranteed. Simulation results demonstrate the performance of the proposed controller compared to prior research.