Position control using off-line model predictive control in piecewise affine system experimental verification

This paper presents an experimental verification of off-line model predictive control for switched systems. The method is based on hybrid dynamical system theory. The system is modeled as a piecewise affine system so that an explicit solution can be obtained by means of a multi-parametric quadratic programming in which not only constraints but also tracking performance are incorporated explicitly, where the parameters are the components of the state vector. The multi-parametric quadratic programming is a promising method for implementation as the computational amount is less than that of conventional online model predictive control. To illustrate the effectiveness of the proposed method, some simulation and experimental results are shown.