Robust ℋ∞ model predictive control for discrete-time switched linear systems

This note investigates the problem of robust ℋ∞ model predictive control (MPC) for a class of discrete-time switched linear systems in the presence of states and inputs constraints and with norm bounded disturbances. The objective is to minimize the upper bound of an infinite horizon cost function subject to the terminal inequality by using induced ℒ2-norm bound. We take into account the switched structure of the system and by means of some mathematical artifacts, the predictive controller design problem is turned into a Linear Matrix Inequalities (LMI) feasibility problem. Simulation results are proposed to show the good convergence properties of the control.