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--This article addresses the stability of softconstrained model predictive control. It is shown that the infinite horizon soft-constrained model predictive control problem can be solved as a finite horizon soft-constrained model predictive control problem if the prediction horizon is greater than an upper-bound. The contribution of this paper is a procedure to compute the prediction horizon upper bound which guarantees the stability. The proposed technique is verified using two simulation example. The second example (inverted pendulum) is verified through practical implementation.Index Terms--Model predictive control, Soft constrained, finite horizon, infinite horizon

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This paper discusses the identification of a class of hybrid dynamical systems whose discrete states have hysteresis phenomenon. The identification model is piecewise affine model along with hysteresis switching law. The first step of the proposed identification method is the estimation of the local parameter vectors for small neighbourhood of each measured data point. Then the local parameter vectors are clustered. Finally, the threshold levels of the hysteresis function which defines the discrete state are estimated.

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