Stabilization conditions for model predictive control of constrained PWA systems

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

30 Citations (Scopus)


Model Predictive Control (MPC) has recently been applied to several relevant classes of hybrid systems with promising results. These developments generated an increasing interest towards issues such as stability and computational problems that arise in hybrid MPC. Stability aspects have been addressed only marginally. In this paper we present an extension of the terminal cost and constraint set method for guaranteeing stability in MPC to the class of constrained piecewise affine systems. Semidefinite programming is used to calculate the employed terminal weight matrix that ensures stability for quadratic cost based MPC. A procedure for computing a robust positively invariant set for piecewise linear systems is also developed. The implementation of the proposed method is illustrated by an example.

Original languageEnglish
Title of host publication43rd IEEE Conference on Decision and Control (CDC)
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages6
ISBN (Print)0-7803-8682-5
Publication statusPublished - 1 Dec 2004
Event43rd IEEE Conference on Decision and Control (CDC 2004) - "Atlantis", Nassau, Bahamas
Duration: 14 Dec 200417 Dec 2004
Conference number: 43


Conference43rd IEEE Conference on Decision and Control (CDC 2004)
Abbreviated titleCDC 2004
Internet address


  • Linear matrix inequalities
  • Model predictive control
  • Piecewise affine systems
  • Positively invariant sets
  • Stability


Dive into the research topics of 'Stabilization conditions for model predictive control of constrained PWA systems'. Together they form a unique fingerprint.

Cite this