Hybrid multi-parametric model predictive control of a nonlinear process approximated with a piecewise affine model

The recently developed methods of multi-parametric model predictive control (mp-MPC) for hybrid systems provide an interesting opportunity for solving a class of nonlinear control problems. With this approach, the nonlinear process is approximated by a piecewise affine (PWA) hybrid model, containing a set of local linear dynamics. Compared to linear model based MPC, a performance improvement is expected with the reduction of plant-to-model mismatch. The feasibility of the approach for application was evaluated in a case study, where an output feedback, offset-free tracking hybrid mp-MPC controller was considered as a replacement for a PID controller based scheme for control of pressure in a wire annealing machine. The evaluation was carried out on a nonlinear model of the process.