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The paper introduces a new version of the Multi-Parametric Toolbox (MPT), which allows model predictive control (MPC) problems to be formulated in an intuitive and user-friendly fashion. In addition to control synthesis, the toolbox can also be employed for stability analysis, verification and simulation of MPC-based strategies. The toolbox is also capable of converting MPC controllers into real-time...
This paper illustrates how an adaptive model predictive controller for the class of hybrid systems affected by parametric uncertainties can be synthesized. Specifically, we investigate the case where the hybrid system is modeled as a piecewise affine (PWA) system where certain elements of the PWA state-update matrices are expressed as symbolic parameters with unknown, but bounded values. For such...
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