A Mixed Integer Approach to Solve Hybrid Model Predictive Control Problems

Iman Nodozi, Ricardo G. Sanfelice

Abstract: This paper presents an algorithm for solving the optimization problem associated with hybrid model predictive control for a class of discretized hybrid control systems. The proposed approach consists of reformulating the optimal control problem as a mixed integer quadratic problem (MIQP), which can be solved using well-established algorithms in the literature. Specifically, the given discretized hybrid control system is transformed into a mixed logical dynamical (MLD) system that, for the class of discretized hybrid control systems considered, gives rise to an MIQP. The MLD model is obtained through an intermediate step that transforms the discretized hybrid control system into a discrete-time control system.