State dependent NGMV control of delayed piecewise affine systems

A Nonlinear Generalized Minimum Variance (NGMV) control algorithm is introduced for the control of delayed piecewise affine (PWA) systems which are an important subclass of hybrid systems. Under some conditions, discrete-time PWA systems can be transferred into their equivalent state dependent nonlinear systems form. The equivalent state dependent systems that include reference and disturbances models are very general. The process is assumed to include common delays in input or output channels of magnitude k. Then the NGMV control strategy can be applied. The NGMV controller is related to a well-known and accepted solution for time delay systems but has the advantage that it can stabilize open-loop unstable processes.