AN EFFICIENT ALGORITHM FOR PREDICTIVE CONTROL OF PIECEWISE AFFINE SYSTEMS WITH MIXED INPUTS

This paper presents a mixed optimization algorithm devoted to predictive control of hybrid systems belonging to the PieceWise Affine (PWA) class with mixed (i.e. continuous and discrete) inputs. By using the particular structure of the optimization problem, the number and the dimension of the subproblems to solve in order to find the optimum are significantly reduced. This approach is applied to a classical case study in the field of hybrid systems: the control of water levels of a three tank system.