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

2016

  • 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

2015

  • 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

2014

  • 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

2013

  • 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

2012

  • Approximation of Explicit MPC Using Regular PWA Functions: An ISS Approach

    May, 2012
    B.A.G. Genuit, W.P.M.H. Heemels and L. Lu
    IET Control Theory & Applications "Special Issue: Implementation of Feedback Controllers on Special-Purpose Hardware" 6(8), p. 1015-1028

  • 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 2012, p. 218-225

2011

  • 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

  • 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

  • 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

2009

  • 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

  • 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

  • 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

  • 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

2008

  • 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

  • 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

  • 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

2007

  • 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

  • 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

  • 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

2006

  • 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

  • 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

  • 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

  • Model Predictive Control of Hybrid Systems: Stability and Robustness

    2006
    M. Lazar
    Eindhoven University of Technology "PhD Thesis"

2005

  • 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 2005, Freudenstadt-Lauterbad, Germany, p. 3-10

  • 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

  • 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

  • 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

2004

  • 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

  • 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

2003

  • 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.

2002

  • 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

  • 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

2001

  • 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

2000

  • 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