Abstract
In this paper, to reduce the computation time for solving the finite-time optimal control problem (i.e., the model predictive control (MPC) problem), an approximate model of switched linear systems is proposed. A switched linear system is one of the typical subclasses of hybrid systems, and has several applications such as networked control systems. First, an approximation of the state variable in switched linear systems is derived. Next, using auxiliary binary and continuous variables, an approximate model given by a mixed logical dynamical system model is derived. Using this approximate model, the dimension of the auxiliary continuous variable can be reduced. As a result, the online computation time in MPC can decrease. Finally, the effectiveness of the proposed method is presented by a numerical example.
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