Robust Semi-explicit Model Predictive Control for Hybrid Automata

In this paper we propose an on-line design technique for the target control problem of hybrid automata. First, we compute off-line the shortest path, which has the minimum discrete cost, from an initial state to the given target set. Next, we derive a controller which successfully drives the system from the initial state to the target set while minimizing a cost function. The (robust) model predictive control (MPC) technique is used when the current state is not within a guard set, otherwise the (robust) mixed-integer predictive control (MIPC) technique is employed. An online, semi-explicit control algorithm is derived by combining the two techniques and applied on a high-speed and energy-saving control problem of the CPU processing.