Abstract
This paper presents a hybrid procedure to solve Model Predictive Control (MPC) of Piecewice Affine (PWA) system. The procedure uses the concepts of reacheble set, controllable set and State Transition Graph (STG) in order to reduce the number of Quadratic Problems (QP) needed to obtain an global minimum. The proposed algorithm reduces considerably the number of explorations needed during the search of a global minimum and thus the time required by the MPC can be reduced to a small fraction of the time required to the original problem
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