Hybrid Model Predictive Control

Abstract

This article collects several model predictive control (MPC) strategies in the literature that have a hybrid flavor, which, due to the diverse use of the term hybrid, span a wide range of control settings. These include discrete-time systems with discontinuous right-hand sides, with states that include both continuous-valued and discrete-valued variables. It also includes systems controlled by MPC strategies using memory variables and logic states, continuous-time systems controlled by MPC strategies that update the feedback law periodically as well as those controlled by MPC strategies that employ more than one feedback controller. This article provides a unified presentation of these strategies with the purpose of serving as a self-contained summary of the state of the art in hybrid MPC, as a handbook with precise pointers to the literature to the interested control practitioner, and as a motivator for future research directions on the subject.