Multi-mode model predictive controller for constrained linear systems with bounded disturbances

This paper presents a multi-mode controller approach for a constrained linear system with bounded disturbances based on the model predictive control (MPC) framework. Compared with single MPC controller implementations, the proposed approach has the flexibility of having a large domain of attraction, good asymptotic behavior and reasonably low on-line computation. The closed-loop control law of the multi-mode controller is available in closed-form. In this case, the proposed controller has fewer partitions of the domain of attraction compared to single MPC controller having similar domain of attraction. The performances of the approach are presented via an example