Predictive Control of Hybrid Systems Under a Multi-MLD Formalism

Abstract

The Mixed Logical Dynamical (MLD) formalism has proved to be an efficient modelling framework for hybrid systems described by dynamics, logic and constraints. Furthermore, it allows formulating and solving practical problems such as control, using for example predictive strategies. However, its main drawback remains the computation load due to the complexity ofthe MIQPs to be solved.To overcome this problem, this paper presents a multi-MLD model, considering split state space regions inside which restricted simpler size MLD models take into account only variables variations that may occur. This approach enables to considerably reduce the computation time, to become more convenient for real time implementation even with small sampling time. This strategy is applied in simulation to the control of a three tanks benchmark.