Real time predictive control for hybrid plant

In this paper the problem of predictive control for a laboratory plant model it is investigated. The model of the laboratory plant is a hybrid one, containing both continuous and discrete state/inputs. Model predictive control requires an optimization problem to be solved in order to compute the command that is applied to the plant, taking into account constraints on inputs and outputs. For the hybrid system, described by the mixed logical dynamical (MLD) and piecewise affine (PWA) formats, a mixed integer predictive control law was defined. Finally, some experimental results are presented in order to demonstrate the effectiveness of the proposed modeling and control algorithms.