A Model Predictive Control for PWA systems with Sequential Mode Transition

This paper considers a model predictive control for continuous-time two-mode piecewise affine systems. Although several conventional researches have tried to design a model predictive control for the systems, most of all papers used hybrid model predictive control approaches[1]. Since such approaches have serious drawbacks of heavy computational load, it is required to reduce the time of calculating control law so that on-line implementation could be realized. Therefore, this paper gives an efficient on-line search fuction of mode swithching time for the model predictive control of two-mode piecewise affine continuous-time systems.