Model Predictive Control of hybrid systems with discrete and continuous inputs

This paper proposes and discusses a model predictive control approach to hybrid system, with discrete and continuous inputs. The hybrid model of two tank system is translated into mixed logical dynamical (MLD) form, which considering all constraints in the physical plant, such as maximum (flow in the pomp) and maximum level in the tank. The resultant system is well-posed for Model Predictive Control (MPC) that is used as control strategy for the system. Simulations are performed using the Hysdel compiler to illustrate the efficiently of this formalism and prove the influence of increasing the prediction horizon.