Infinity norms as Lyapunov functions for model predictive control of constrained PWA systems

M. Lazar, W.P.M.H. Heemels, S. Weiland, A. Bemporad, O. Pastravanu

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

24 Citations (Scopus)
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In this paper we develop a priori stabilization conditions for infinity norm based hybrid MPC in the terminal cost and constraint set fashion. Closed-loop stability is achieved using infinity norm inequalities that guarantee that the value function corresponding to the MPC cost is a Lyapunov function of the controlled system. We show that Lyapunov asymptotic stability can be achieved even though the MPC value function may be discontinuous. One of the advantages of this hybrid MPC scheme is that the terminal constraint set can be directly obtained as a sublevel set of the calculated terminal cost, which is also a local piecewise linear Lyapunov function. This yields a new method to obtain positively invariant sets for PWA systems.
Original languageEnglish
Title of host publicationHybrid systems: computation and control : 8th international workshop, HSCC 2005, Zurich, Switzerland, March 9-11, 2005 ; proceedings
EditorsM. Morari, L. thiele
Place of PublicationBerlin
ISBN (Print)3-540-25108-1
Publication statusPublished - 2005

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743


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