Robust predictive control of switched systems: Satisfying uncertain schedules subject to state and control constraints

In this work, we consider robust predictive control of switched uncertain nonlinear systems required to satisfy a prescribed switching sequence with uncertainty in the switching times subject to state and input constraints. To illustrate our approach, we consider first the problem of satisfying a prescribed schedule subject to uncertainty only in the switching times. Predictive controllers that guarantee the satisfaction of state and input constraints from an explicitly characterized set of initial conditions are first designed. The performance and constraint-handling capabilities of the predictive controllers are subsequently utilized in ensuring the satisfaction of the switching schedule while preserving stability. The results are then generalized to address the problem in the presence of parametric uncertainty and exogenous time-varying disturbances in the dynamics of the constituent modes. The proposed control method is demonstrated through application to a scheduled chemical process example. Copyright 2007 John Wiley & Sons, Ltd.