A multiple model approach for predictive control of nonlinear hybrid systems

Hybrid system identification using a structural approach and its model based control: An experimental validation

“…The logical multiplier i is based on the variables δ k , and is designed to take on a value 1 if and only if the ith combination of the binary variables is encountered and zero, otherwise [22,23]. Thus, the different i correspond to the modes of the system.…”

“…The primary use of this identified model in MPC lies in obtaining future predictions. As described in [23], Eqs. (33)-(35) may be put in a readily usable form for MPC by defining the following terms,…”

“…For details on the multiple model approach for MPC, see Ref. [23]. The multiple models may finally be used for forecasting in MPC.…”

“…Discharge coefficient Value (m 2 ) k 1 3.6050E−05 k 2 3.9876E−05 k 13 4.8960E−05 k 23 4.8177E−05 k L1 4.0565E−05 k N3 3.5653E−05…”

“…The detailed formulation of the MPC using the multiple model approach has been discussed elsewhere [23]. Implementation of MPC requires an online solution of MINLP.…”