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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...
In this work, a predictive control framework is proposed for the constrained stabilization of switched nonlinear systems that transit between their constituent modes at prescribed switching times. The main idea is to, design a Lyapunov-based predictive controller for each constituent mode in which the switched system operates, and incorporate constraints in the predictive controller design to ensure...
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