Reachability and Robust Control of PWA Systems with Parameter Variations and Bounded Disturbance

This paper considers discrete-time, uncertain PWA (piecewise affine) systems affected by parameter variations and bounded disturbances, where reachability technique based on polyhedral approach is developed and the robust control problems are investigated. Checking attainability and calculating the state space regions for which a robust control is assured despite the possible disturbance and the parameter variations is performed using a geometrical approach. A model predictive control law derived from a quadratic cost function minimization is further examined as an alternative sub-optimal approach for decreasing the computational load. The proposed technique is applied in simulation to a two-tank benchmark.