Model predictive control
Model predictive control [link to general MPC theme] is an optimization-based control strategy (employing receding-horizon principles) that can deal with hard constraints on controls and states. The generality of the general philosophy behind MPC allows direct application of the main ideas also to hybrid systems. However, various important properties need to be reconsidered due to the non-smoothness and discontinuous behavior of hybrid systems, next to investigating/reducing the numerical complexity that occurs for hybrid systems. We provided several important fundamental results on the former problem of studying the theoretical properties of hybrid MPC closed-loop systems.
Related Publications
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Mixed-Integer MPC Strategies for Fueling and Density Control in Fusion Tokamaks
2023
Orrico, C.A., van Berkel, M., Bosman, T., Heemels, W.P.M.H., Krishnamoorthy, D.
IEEE Control Systems Letters 7
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Mixed-integer model predictive control for large-area MR-HIFU hyperthermia in cancer therapy
2020
D.A. Deenen, E. Maljaars, L. Sebeke, B. de Jager, E. Heijman, H. Grull, W.P.M.H. Heemels
IFAC World Congress 2020, Berlin, Germany "IFAC PapersOnLine" 53(2), p. 6637-6643
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A switched system approach to optimize mixing of fluids
July, 2018
V.S. Dolk, M. Lauret, D.A. Antunes, P. Anderson, W.P.M.H. Heemels
IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2018, Oxford, UK "[IFAC-PapersOnline]" 51-16, p. 31–36
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Robust Self-Triggered MPC for Constrained Linear Systems: A Tube-Based Approach
2016
F.D. Brunner, W.P.M.H. Heemels, F. Allgower
Automatica 72, p. 73-83
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Robust Event-Triggered MPC for Constrained Linear Discrete-Time Systems with Guaranteed Average Sampling Rate
2015
F.D. Brunner, W.P.M.H. Heemels, F. Allgower
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2015, Seville, Spain "(IFAC-PapersOnLine, Volume 48, Issue 23, 2015, Pages 117-122)", p. 117-122
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Stabilizing Dynamic Control Design for Hybrid Systems: A Hybrid Control Lyapunov Function Approach
May, 2014
S. Di Cairano, W.P.M.H. Heemels, M. Lazar, A. Bemporad
IEEE Transactions on Automatic Control 59(10), p. 2629-2643
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Hybrid Control Lyapunov Functions for Stabilization of Hybrid Systems
April, 2013
S. Di Cairano, W.P.M.H. Heemels, M. Lazar and A. Bemporad
Hybrid Systems: Computation and Control (HSCC) 2013, Philadelphia, USA, p. 73-82
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Approximation of Explicit MPC Using Regular PWA Functions: An ISS Approach
May, 2012
B.A.G. Genuit, L. Lu, W.P.M.H. Heemels
IET Control Theory & Applications "Special Issue: Implementation of Feedback Controllers on Special-Purpose Hardware" 6(8), p. 1015-1028
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MOBY-DIC: A MATLAB Toolbox for circuit-oriented design of explicit MPC
August, 2012
A. Oliveri, D. Barcelli, A. Bemporad, B.A.G. Genuit, W.P.M.H. Heemels, T. Poggi, M. Rubagotti and M. Storace
IFAC Conference on Nonlinear Model Predictive Control (NMPC) 2012, Noordwijkerhout, The Netherlands, p. 218-225
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Approximation of PWA Control Laws Using Regular Partitions: An ISS Approach
September, 2011
B.A.G. Genuit, L. Lu and W.P.M.H. Heemels
IFAC Word Conference 2011, Milano, Italy, p. 4540-4545
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Synthesis of low-complexity stabilizing piecewise affine controllers: A control-Lyapunov function approach
December, 2011
L. Lu, W.P.M.H. Heemels and A. Bemporad
IEEE Conference on Decision and Control (CDC) 2011, Orlando, USA, p. 1227-1232
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Low-complexity Approximations of PWA Functions: a Case Study on Adaptive Cruise Control
August, 2011
A. Oliveri, G.J.L. Naus, M. Storace and W.P.M.H. Heemels
European conference on circuit theory and design (ECCTD) 2011, Linköping, Sweden, p. 694-697
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Predictive control of hybrid systems: Input-to-state stability results for sub-optimal solutions
January, 2009
M. Lazar and W.P.M.H. Heemels
Automatica 45(1), p. 180-185
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Further results on "Robust MPC using Linear Matrix Inequalities"
2009
M. Lazar, W.P.M.H. Heemels, D. Munoz de la Pena and T. Alamo
in "Assessment and Future Directions of Nonlinear Model Predictive Control, Lecture Notes in Control and Information Sciences", Springer 384, p. 89-98
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Chapter 5: Further switched systems
2009
A. Bemporad, M.K. Camlibel, W.P.M.H. Heemels, A. J. van der Schaft, J.M. Schumacher and B. De Schutter
in "HYCON Handbook of Hybrid Systems Control Theory-Tools-Applications", Cambridge University Press, p. 139-192
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Chapter 2: Survey of modelling, analysis and control of hybrid systems
2009
B. De Schutter, W.P.M.H. Heemels, J. Lunze and C. Prieur
in "HYCON Handbook of Hybrid Systems Control Theory-Tools-Application", Cambridge University Press, p. 31-55
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Optimized input-to-state stabilization of discrete-time nonlinear systems with bounded inputs
June, 2008
M. Lazar and W.P.M.H. Heemels
American Control Conference (ACC) 2008, Seattle, USA, p. 2310-2315
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Predictive control of hybrid systems: Stability results for suboptimal solutions
July, 2008
M. Lazar and W.P.M.H. Heemels
IFAC World Congress 2008, Seoul, Korea, p. 11196-1120
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A Control Lyapunov Approach to Predictive Control of Hybrid Systems
2008
S. Di Cairano, M. Lazar, A. Bemporad and W.P.M.H. Heemels
in "Lecture Notes in Computer Science. 11th International Workshop on Hybrid Systems: Computation and Control 2008, St. Louis, USA", Springer, p. 130-143
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Assessment of nonlinear predictive control techniques for DC-DC converters
August, 2007
A.G. Beccuti, M. Lazar, W.P.M.H. Heemels, G. Papafotiou and M. Morari
NOLCOS 2007, Pretoria, South-Africa
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Design of stabilizing output feedback nonlinear model predictive controllers with an application to DC-DC converters
July, 2007
B.J.P. Roset, M. Lazar, W.P.M.H. Heemels and H. Nijmeijer
European Control Conference (ECC) 2007, Kos, Greece, p. 2999-3004
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Discrete-time non-smooth nonlinear MPC: Stability and input-to-state stability
2007
M. Lazar, W.P.M.H. Heemels, A. Bemporad and S. Weiland
in "Lecture Notes in Control and Information Sciences, Assessment and Future Directions of Nonlinear Model Predictive Control", Springer, p. 93-109
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Stabilizing Model Predictive Control of Hybrid Systems
November, 2006
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
IEEE Transactions on Automatic Control 51(11), p. 1813-1818
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A hybrid MPC approach to the design of a Smart adaptive cruise controller
October, 2006
D. Corona, M. Lazar, B. De Schutter and W.P.M.H. Heemels
International Conference on Control Applications (CCA) 2006, Munich, Germany, p. 231-236
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A new dual-mode hybrid MPC algorithm with a robust stability guarantee
June, 2006
M. Lazar and W.P.M.H. Heemels
IFAC Conference on Analysis and Design of Hybrid Systems (ADHS) 2006, Alghero, Italy, p. 321-328
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Model Predictive Control of Hybrid Systems: Stability and Robustness
2006
M. Lazar
Eindhoven University of Technology "PhD Thesis"
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On the stability and robustness of non-smooth nonlinear model predictive control
2005
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
International Workshop on Assessment and Future Directions of Nonlinear MPC (NMPC) 2005, Freudenstadt-Lauterbad, Germany, p. 3-10
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Control of PWA systems using a stable receding horizon method
July, 2005
I. Necoara, B. De Schutter, W.P.M.H. Heemels, S. Weiland, M.. Lazar and T.T.J. van den Boom
IFAC World Congress on Automatic Control 2006, Prague
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On the stability of quadratic forms based model predictive control of constrained PWA systems
June, 2005
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
American Control Conference (ACC) 2005, Portland, USA, p. 575-580
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Infinity norms as Lyapunov functions for model predictive control of constrained PWA systems
2005
M. Lazar, W.P.M.H. Heemels, S. Weiland, A. Bemporad and O. Pastravanu
in "Hybrid Systems: Computation and Control 2005, Lecture Notes in Computer Science", Springer 3414, p. 417-432
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Stabilizing receding horizon control of piecewise linear systems
2004
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
International Symposium on Mathematical Theory of Networks and Systems (MTNS) 2004, Leuven, Belgium
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Stabilization conditions for model predictive control of constrained PWA systems
December, 2004
M. Lazar, W.P.M.H. Heemels, S. Weiland and A. Bemporad
IEEE Conference on Decision and Control (CDC) 2004, Bahamas, p. 4595-4600
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A semi-explicit MPC set-up for constrained piecewise affine systems
2003
M. Lazar and W.P.M.H. Heemels
European Control Conference (ECC) 2003, Cambridge, U.K.
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On hybrid systems and closed-loop MPC systems
May, 2002
A. Bemporad, W.P.M.H. Heemels and B. De Schutter
IEEE Transactions on Automatic Control 47(5), p. 863-869
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Max-plus-algebraic problems and the extended linear complementarity problem — algorithmic aspects
2002
B. De Schutter, W.P.M.H. Heemels and A. Bemporad
IFAC World Congress 2002, Barcelona, Spain
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On hybrid systems and closed-loop MPC systems
December, 2001
A. Bemporad, W.P.M.H. Heemels and B. De Schutter
IEEE Conference on Decision and Control (CDC) 2001, Orlando, USA, p. 1645-1649
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On dynamics, complementarity and passivity: electrical networks with ideal diodes
2000
W.P.M.H. Heemels, M.K. Camlibel and J.M. Schumacher
Conference on Automation of Mixed Processes: Hybrid Dynamic Systems 2000, Dortmund, Germany