Supervised Robustly Feasible Soft Switching Model Predictive Control with Polytopic Uncertainty

In operational control of complex systems control objectives often change with operating conditions, which calls for multiple control strategies each of them being best fit into specific operating scenarios and then it is inevitable to switch among these control strategies. The traditional hard switching of predictive control strategies may cause unwanted transients and more importantly it may not be feasible in the presence of output/state and control constraints. In this paper, a soft switching scheme based on invariant set theory is proposed for a class of linear system with polytopic uncertainty in order to not only improve the switching transients but also overcome the infeasibility problem of hard switching. Simulation results show that the proposed methods can be useful in real applications