Uniting bounded control and MPC for stabilization of constrained linear systems. (Q1426269)

A controller switching strategy for constrained linear time-invariant systems is proposed. The strategy is based on switching between a model predictive controller (which minimizes a given performance objective subject to input constraints) and a bounded controller for which the region of constrained closed-loop stability is explicitly characterized. Stability-based switching laws, and laws using advanced MPC formulations are elaborated. It is argued that a logic-based supervisor can orchestrate the transitions between the two controllers in a way that guarantees asymptotic stability for all initial conditions within the stability region of the bounded controller. The implementation of the proposed strategy is illustrated through numerical simulation of an exponentially unstable open-loop system.