Multi-model predictive control with local constraints based on model switching

Because model switching system is a typical form of Takagi-Sugeno(T-S) model which is an univer sal approximator of continuous nonlinear systems,we describe the model switching system as mixed logical dynamical (MLD) system and use it in model predictive control (MPC) in this paper.Considering t hat each local model is only valid in each l ocal region,we add local constraints to local models.The stability of proposed multi-model predictiv e control (MMPC) algorithm is analyzed, and the p erformance of MMPC is also demonstrated on an in ulti-multi-output(MIMO) simulated pH neutralization process.