Model predictive control systems with discrete inputs

The paper proposes a model predictive control algorithm that can be applied to discrete-time hybrid systems with discrete inputs. The algorithm is based on performance driven reachability analysis. The algorithm abstracts the behavior of the hybrid system by building a tree of evolution. Nodes of the tree represent reachable state of process, and the branches connect two nodes if a transition exists between the corresponding states. To each node a cost function value is associated and based on this value, the tree exploration is driven. As soon as the tree exploration is finished, the corresponding input is applied to the system and the procedure is repeated.