Event-Based Model Predictive Control and Verification of Integral Continuous-Time Hybrid Automata

This paper proposes an event-driven model predictive control scheme with guaranteed closed-loop convergence properties for the class of integral continuous-time hybrid automata (icHA). After converting icHA to a corresponding event-driven representation that allows one to compute the model predictive control action by mixed integer programming, sufficient conditions ensuring event-asymptotic and timeasymptotic convergence are proved. The paper also shows how the same modeling methodology can be employed to efficiently solve problems of verification of safety properties.