Explicit modeling of mode transition constraints for model predictive control

The model predictive/optimal control problem of hybrid systems is reduced to a mixed integer quadratic programming (MIQP) problem. However, the MIQP problem has one serious weakness, i.e., the computation time to solve the MIQP problem is too long for practical plants. For overcoming this technical issue, there are several approaches. In this paper, a modeling of mode transition constraints, which are expressed by a directed graph, are focused, and a new method to model a directed graph is proposed. The effectiveness of the proposed method is shown by numerical examples.