Model predictive control of discrete-time hybrid systems with discrete inputs

This paper proposes and discusses a model predictive control approach to hybrid systems with discrete inputs only. The algorithm, which takes into account a model of a hybrid system, described as a mixed logical dynamical system, is based on a performance-driven reachability analysis. The algorithm abstracts the behavior of the hybrid system by building a "tree of evolution." The nodes of the tree represent the reachable states of a process, and the branches connect two nodes if a transition exists between the corresponding states. A cost-function value is associated with each node, and based on this value the exploration of the tree is driven. As soon as the exploration of the tree is finished, the corresponding input is applied to the system and the procedure is repeated.